Pub Date : 2019-11-01DOI: 10.1109/ANZCC47194.2019.8945521
Xingda Chen, Jidong Wang, Liuping Wang
LoRaWAN is one of the emerging Low Power Wide Area Networks being developed for IoT applications which can be applied to Industrial Control System (ICS). The latest LoRaWAN release v.1.1 uses Advanced Encryption Standard Electronic (AES) with 128 bits key for encryption and authentication. The release has a security framework which covers the end devices, LoRaWAN gateways, network servers and application servers. In its key management part, the key generation is recommended, but not clearly specified. However, the key generation is a very important part of the security key management scheme, as it will affect the soundness of the whole security framework. In this paper, a new key generation scheme for LoRaWAN is proposed. The scheme has been shown that it not only has high computing efficiency but also meets the randomness requirement of the security key. The proposed scheme can enhance the LoRaWAN security framework if it is adopted in its future release.
LoRaWAN是为物联网应用开发的新兴低功耗广域网之一，可应用于工业控制系统(ICS)。最新版本的LoRaWAN v.1.1采用AES (Advanced Encryption Standard Electronic)加密标准，采用128位密钥进行加密和认证。此次发布的安全框架涵盖了终端设备、LoRaWAN网关、网络服务器和应用服务器。在其密钥管理部分，建议生成密钥，但没有明确说明。而密钥生成是安全密钥管理方案中非常重要的一部分，它将影响到整个安全框架的健全。本文提出了一种新的LoRaWAN密钥生成方案。实验表明，该方案不仅具有较高的计算效率，而且满足安全密钥的随机性要求。如果在未来的版本中采用该方案，则可以增强LoRaWAN的安全框架。
{"title":"A Fast Session Key Generation Scheme for LoRaWAN","authors":"Xingda Chen, Jidong Wang, Liuping Wang","doi":"10.1109/ANZCC47194.2019.8945521","DOIUrl":"https://doi.org/10.1109/ANZCC47194.2019.8945521","url":null,"abstract":"LoRaWAN is one of the emerging Low Power Wide Area Networks being developed for IoT applications which can be applied to Industrial Control System (ICS). The latest LoRaWAN release v.1.1 uses Advanced Encryption Standard Electronic (AES) with 128 bits key for encryption and authentication. The release has a security framework which covers the end devices, LoRaWAN gateways, network servers and application servers. In its key management part, the key generation is recommended, but not clearly specified. However, the key generation is a very important part of the security key management scheme, as it will affect the soundness of the whole security framework. In this paper, a new key generation scheme for LoRaWAN is proposed. The scheme has been shown that it not only has high computing efficiency but also meets the randomness requirement of the security key. The proposed scheme can enhance the LoRaWAN security framework if it is adopted in its future release.","PeriodicalId":322243,"journal":{"name":"2019 Australian & New Zealand Control Conference (ANZCC)","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115499578","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2019-11-01DOI: 10.1109/ANZCC47194.2019.8945802
Ahmadin, J. Naiborhu, R. Saragih
In this paper will be studied the control design of the non-minimum phase bilinear system with relative degree greater than 1 and less than n -1, n is dimension of the system. The research is done on bilinear systems with particular class using coordinate transformation. From these results it can be classified that the bilinear system under review can have non-minimum phase, minimum phase and weak minimum phase.
{"title":"Some Results on Control Design of Non-minimum Phase Bilinear Systems","authors":"Ahmadin, J. Naiborhu, R. Saragih","doi":"10.1109/ANZCC47194.2019.8945802","DOIUrl":"https://doi.org/10.1109/ANZCC47194.2019.8945802","url":null,"abstract":"In this paper will be studied the control design of the non-minimum phase bilinear system with relative degree greater than 1 and less than n -1, n is dimension of the system. The research is done on bilinear systems with particular class using coordinate transformation. From these results it can be classified that the bilinear system under review can have non-minimum phase, minimum phase and weak minimum phase.","PeriodicalId":322243,"journal":{"name":"2019 Australian & New Zealand Control Conference (ANZCC)","volume":"18 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131748281","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2019-11-01DOI: 10.1109/ANZCC47194.2019.8945772
Farya Golesorkhie, Zach J Barnes, Fuwen Yang, H. Loree, F. N. Franano, L. Vlacic, G. Tansley
The AFE System is a medical device intended to dilate the cephalic vein by increasing the blood flow and wall shear stress (WSS) in the vein over a period of 10-14 days prior to creation of an arteriovenous fistula (AVF) for haemodialysis; the system functions as a means of increasing eligibility for AVF surgery and reducing rates of AVF failure. During treatment, maintaining WSS around 4 Pa in the treated vein is desirable to provide optimal vein wall stimulation while avoiding wall injury that could lead to venous stenosis. Developing a model of the AFE System and the related venous circulation could help design a control system for maintaining WSS in the treated vein during the period of treatment when the vein is increasing in diameter. Using a broad application of the Hagen-Poiseuille law, WSS calculation could be based on differential pressure and the flow rate. The AFE System pump was characterised in a test rig utilising sensors and a data acquisition system for measuring mechanical parameters. A data-based model of the AFE pump which includes pump head estimation based on flow rate or electrical current, and motor speed measurements has been developed, and is presented in this paper. All data fitted the developed relationships well, with a correlation coefficient of 93% or above.
{"title":"Data-Based Modelling of the Arteriovenous Fistula Eligibility (AFE) System for Wall Shear Stress Estimation","authors":"Farya Golesorkhie, Zach J Barnes, Fuwen Yang, H. Loree, F. N. Franano, L. Vlacic, G. Tansley","doi":"10.1109/ANZCC47194.2019.8945772","DOIUrl":"https://doi.org/10.1109/ANZCC47194.2019.8945772","url":null,"abstract":"The AFE System is a medical device intended to dilate the cephalic vein by increasing the blood flow and wall shear stress (WSS) in the vein over a period of 10-14 days prior to creation of an arteriovenous fistula (AVF) for haemodialysis; the system functions as a means of increasing eligibility for AVF surgery and reducing rates of AVF failure. During treatment, maintaining WSS around 4 Pa in the treated vein is desirable to provide optimal vein wall stimulation while avoiding wall injury that could lead to venous stenosis. Developing a model of the AFE System and the related venous circulation could help design a control system for maintaining WSS in the treated vein during the period of treatment when the vein is increasing in diameter. Using a broad application of the Hagen-Poiseuille law, WSS calculation could be based on differential pressure and the flow rate. The AFE System pump was characterised in a test rig utilising sensors and a data acquisition system for measuring mechanical parameters. A data-based model of the AFE pump which includes pump head estimation based on flow rate or electrical current, and motor speed measurements has been developed, and is presented in this paper. All data fitted the developed relationships well, with a correlation coefficient of 93% or above.","PeriodicalId":322243,"journal":{"name":"2019 Australian & New Zealand Control Conference (ANZCC)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131252818","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2019-11-01DOI: 10.1109/ANZCC47194.2019.8945775
Abdul Sattar, Liuping Wang, A. Mohamed, A. Panta, A. Fisher
For a fixed-wing unmanned aerial vehicle flight in turbulent environments, distributing aerodynamic load of single aileron through multiple segments can provide rapid actuation, precise roll and heave control while also having the potential to improve yaw response for tail-less (flying wing) aircraft. This paper investigates identification of multi-segment unmanned aerial vehicle (SUAV) via aileron (two segments) instead of the conventional control. Only roll axis is considered in this paper given it represents the most sensitive axis to atmospheric disturbances. The multi-segment aileron is configured as a multi-input and single-output system and each segment is regarded a control input. Experiments are conducted in a wind tunnel to determine the frequency response of the system and the corresponding transfer functions. The experimental results and the mathematical models indicate that interaction between various aileron surfaces is nonlinear. An understanding of this non-linearity aids future development of precise maneuverability, energy efficient control and highly stable operation under severe air turbulence.
{"title":"System Identification of Fixed-wing UAV with Multi-segment Control Surfaces","authors":"Abdul Sattar, Liuping Wang, A. Mohamed, A. Panta, A. Fisher","doi":"10.1109/ANZCC47194.2019.8945775","DOIUrl":"https://doi.org/10.1109/ANZCC47194.2019.8945775","url":null,"abstract":"For a fixed-wing unmanned aerial vehicle flight in turbulent environments, distributing aerodynamic load of single aileron through multiple segments can provide rapid actuation, precise roll and heave control while also having the potential to improve yaw response for tail-less (flying wing) aircraft. This paper investigates identification of multi-segment unmanned aerial vehicle (SUAV) via aileron (two segments) instead of the conventional control. Only roll axis is considered in this paper given it represents the most sensitive axis to atmospheric disturbances. The multi-segment aileron is configured as a multi-input and single-output system and each segment is regarded a control input. Experiments are conducted in a wind tunnel to determine the frequency response of the system and the corresponding transfer functions. The experimental results and the mathematical models indicate that interaction between various aileron surfaces is nonlinear. An understanding of this non-linearity aids future development of precise maneuverability, energy efficient control and highly stable operation under severe air turbulence.","PeriodicalId":322243,"journal":{"name":"2019 Australian & New Zealand Control Conference (ANZCC)","volume":"42 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125408391","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2019-11-01DOI: 10.1109/ANZCC47194.2019.8945740
Yuankang Zhu, Liuping Wang, P. Poksawat
Unmanned Aerial Vehicles (UAVs), known as drones and quadcopters, have been widely used in military and civilian usages, including filming, fields of delivery, national defense and mission enforcement. This paper deals with proportional and integral(PI) control of a hexacopter in cascaded structure with observer estimation. The inner-loop control systems use PI controller while the outer-loop control systems use proportional control with an estimator for the turbulent disturbance. Experimental results have shown the validity of the proposed method.
{"title":"Cascade Attitude Control of Hexacopter with PI and Disturbance Estimation","authors":"Yuankang Zhu, Liuping Wang, P. Poksawat","doi":"10.1109/ANZCC47194.2019.8945740","DOIUrl":"https://doi.org/10.1109/ANZCC47194.2019.8945740","url":null,"abstract":"Unmanned Aerial Vehicles (UAVs), known as drones and quadcopters, have been widely used in military and civilian usages, including filming, fields of delivery, national defense and mission enforcement. This paper deals with proportional and integral(PI) control of a hexacopter in cascaded structure with observer estimation. The inner-loop control systems use PI controller while the outer-loop control systems use proportional control with an estimator for the turbulent disturbance. Experimental results have shown the validity of the proposed method.","PeriodicalId":322243,"journal":{"name":"2019 Australian & New Zealand Control Conference (ANZCC)","volume":"16 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122119203","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2019-11-01DOI: 10.1109/ANZCC47194.2019.8945700
Sosuke Chiba, K. Uchiyama, Kai Masuda
This paper describes the guidance method considering irregular land of the planetary exploration rover in an unknown environment. Some exploration methods in the environment with many obstacles and uneven ground surfaces have been proposed. In this study, we propose a guidance method to detect and avoid the area that is difficult to be detected by an external sensor such as a camera or a radar. An observer based on Disturbance Accommodating Control (DAC) method is used to detect the areas. The potential function method is applied to the avoidance of the area. Furthermore, EKF-SLAM is treated to estimate self-location and construct a map in a more realistic environment. The effectiveness of the proposed method guidance method is verified numerically and experimentally.
{"title":"Guidance Method without Terrain Information for an Exploration Rover","authors":"Sosuke Chiba, K. Uchiyama, Kai Masuda","doi":"10.1109/ANZCC47194.2019.8945700","DOIUrl":"https://doi.org/10.1109/ANZCC47194.2019.8945700","url":null,"abstract":"This paper describes the guidance method considering irregular land of the planetary exploration rover in an unknown environment. Some exploration methods in the environment with many obstacles and uneven ground surfaces have been proposed. In this study, we propose a guidance method to detect and avoid the area that is difficult to be detected by an external sensor such as a camera or a radar. An observer based on Disturbance Accommodating Control (DAC) method is used to detect the areas. The potential function method is applied to the avoidance of the area. Furthermore, EKF-SLAM is treated to estimate self-location and construct a map in a more realistic environment. The effectiveness of the proposed method guidance method is verified numerically and experimentally.","PeriodicalId":322243,"journal":{"name":"2019 Australian & New Zealand Control Conference (ANZCC)","volume":"125 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123717618","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2019-11-01DOI: 10.1109/ANZCC47194.2019.8945771
A. N. Hanafi, M. Seron, J. Doná
We present a scheme for fault detection and isolation (FDI) and controller reconfiguration (CR) in full–state feedback linearisable nonlinear systems subject to actuator faults. The nonlinear plant is feedback–linearised and then controlled by a linear controller that satisfies a requirement of set–point tracking. Ultimate bound arguments are used to detect and isolate the healthy or faulty system operation. Then, the virtual actuator methodology is applied to reconFigure the control laws after the occurrence of actuator faults. This proposed scheme is illustrated by an example of the Chua circuit.
{"title":"A strategy for fault tolerant control of full-state feedback linearisable nonlinear systems","authors":"A. N. Hanafi, M. Seron, J. Doná","doi":"10.1109/ANZCC47194.2019.8945771","DOIUrl":"https://doi.org/10.1109/ANZCC47194.2019.8945771","url":null,"abstract":"We present a scheme for fault detection and isolation (FDI) and controller reconfiguration (CR) in full–state feedback linearisable nonlinear systems subject to actuator faults. The nonlinear plant is feedback–linearised and then controlled by a linear controller that satisfies a requirement of set–point tracking. Ultimate bound arguments are used to detect and isolate the healthy or faulty system operation. Then, the virtual actuator methodology is applied to reconFigure the control laws after the occurrence of actuator faults. This proposed scheme is illustrated by an example of the Chua circuit.","PeriodicalId":322243,"journal":{"name":"2019 Australian & New Zealand Control Conference (ANZCC)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129564328","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2019-11-01DOI: 10.1109/ANZCC47194.2019.8945793
Midhun T. Augustine, Deepak U. Patil
Optimal control of switched systems deals with the design of an optimal switching signal and control input for switched systems. In this paper, an optimal switching feedback law with a finite number of switching is proposed for an asymptotically stabilizable discrete-time switched linear system with at least one controllable subsystem. The algorithm uses dynamic programming based approach for minimizing the quadratic cost.
{"title":"Dynamic Programming based Optimal Control of Discrete Time Switched Linear Systems","authors":"Midhun T. Augustine, Deepak U. Patil","doi":"10.1109/ANZCC47194.2019.8945793","DOIUrl":"https://doi.org/10.1109/ANZCC47194.2019.8945793","url":null,"abstract":"Optimal control of switched systems deals with the design of an optimal switching signal and control input for switched systems. In this paper, an optimal switching feedback law with a finite number of switching is proposed for an asymptotically stabilizable discrete-time switched linear system with at least one controllable subsystem. The algorithm uses dynamic programming based approach for minimizing the quadratic cost.","PeriodicalId":322243,"journal":{"name":"2019 Australian & New Zealand Control Conference (ANZCC)","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128555800","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2019-11-01DOI: 10.1109/ANZCC47194.2019.8945523
Jian Zhang
This work presents a collision-free 3D path planning strategy for the non-holonomic mobile robot control. The non-holonomic mobile robot travels through an unknown 3D environment with obstacles and reaches a given destination safely with no collisions. In addition, our approach enables to find the optimal path to the target efficiently based on the avoiding plane selected. The performance of the presented strategy is demonstrated via computer simulations and good results are obtained.
{"title":"A Collision-Free 3D Path Planning Strategy for Mobile Robots","authors":"Jian Zhang","doi":"10.1109/ANZCC47194.2019.8945523","DOIUrl":"https://doi.org/10.1109/ANZCC47194.2019.8945523","url":null,"abstract":"This work presents a collision-free 3D path planning strategy for the non-holonomic mobile robot control. The non-holonomic mobile robot travels through an unknown 3D environment with obstacles and reaches a given destination safely with no collisions. In addition, our approach enables to find the optimal path to the target efficiently based on the avoiding plane selected. The performance of the presented strategy is demonstrated via computer simulations and good results are obtained.","PeriodicalId":322243,"journal":{"name":"2019 Australian & New Zealand Control Conference (ANZCC)","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126393276","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
This paper studies the formation control of swarm UAVs and designs a new distributed control method. Each UAV only needs to consider the information of its neighboring UAVs and the virtual leader. By constructing a new artificial potential function, virtual attractive and repulsive forces are generated between UAVs, so that the UAVs can maintain the desired distance during flight. On this basis, the relative positional relationship between each UAV and the virtual leader is designed using the consistency method, so that swarm UAVs can generate and maintain the basic formation. The simulation results of formation generation and formation maintenance illustrates the effectiveness and rationality of the method.
{"title":"A Distributed Formation Control Method of Swarm UAVs Based on Artificial Potential Field and Consensus Strategy","authors":"Xiaowei Fu, Haixiang Wang, Jing Pan, Xiao-guang Gao","doi":"10.1109/ANZCC47194.2019.8945774","DOIUrl":"https://doi.org/10.1109/ANZCC47194.2019.8945774","url":null,"abstract":"This paper studies the formation control of swarm UAVs and designs a new distributed control method. Each UAV only needs to consider the information of its neighboring UAVs and the virtual leader. By constructing a new artificial potential function, virtual attractive and repulsive forces are generated between UAVs, so that the UAVs can maintain the desired distance during flight. On this basis, the relative positional relationship between each UAV and the virtual leader is designed using the consistency method, so that swarm UAVs can generate and maintain the basic formation. The simulation results of formation generation and formation maintenance illustrates the effectiveness and rationality of the method.","PeriodicalId":322243,"journal":{"name":"2019 Australian & New Zealand Control Conference (ANZCC)","volume":"211 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124740660","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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