Pub Date : 2015-05-17DOI: 10.1109/SYSOSE.2015.7151967
Islam Kilic, A. Yazıcı, Omur Yildiz, Mustafa Ozcelikors, Atakan Ondogan
Advanced driver assistance systems (ADAS) have a critical role in the development of the active safety systems for vehicles. There are various sub technologies like Adaptive cruise control (ACC), Collision avoidance system, Blind spot detection etc. under ADAS. All these technologies are also accepted as the preliminary technology of autonomous driving. Therefore, during development of these technologies using a system of system (SOS) control approach would help both decreasing the development costs and unifying all these technologies under autonomous driving. In this paper, a SOS based intelligent ACC system design is proposed. The ACC system has high level control, low level control and sensor units.
{"title":"Intelligent adaptive cruise control system design and implementation","authors":"Islam Kilic, A. Yazıcı, Omur Yildiz, Mustafa Ozcelikors, Atakan Ondogan","doi":"10.1109/SYSOSE.2015.7151967","DOIUrl":"https://doi.org/10.1109/SYSOSE.2015.7151967","url":null,"abstract":"Advanced driver assistance systems (ADAS) have a critical role in the development of the active safety systems for vehicles. There are various sub technologies like Adaptive cruise control (ACC), Collision avoidance system, Blind spot detection etc. under ADAS. All these technologies are also accepted as the preliminary technology of autonomous driving. Therefore, during development of these technologies using a system of system (SOS) control approach would help both decreasing the development costs and unifying all these technologies under autonomous driving. In this paper, a SOS based intelligent ACC system design is proposed. The ACC system has high level control, low level control and sensor units.","PeriodicalId":399744,"journal":{"name":"2015 10th System of Systems Engineering Conference (SoSE)","volume":"22 10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-05-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123730943","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 : 2015-05-17DOI: 10.1109/SYSOSE.2015.7151947
Stefan Marchlewitz, Jan-Peter Nicklas, P. Winzer
Handling complexity is a major challenge for the development of product systems, especially in the field of autonomous robots. Considering the production system of such an autonomous robot, which is more and more realized by collaborative System of Systems (SoS), increases the complexity. To manage this complexity, a systematic approach is necessary. The following paper describes an approach to analyze and derive design recommendations based on the principles of Generic Systems Engineering (GSE). This approach uses a common model of thinking, a unified system model and a standardized procedure to develop a system. The system model is actualized within the procedure and allows a problem localization for further design changes. A simplification is achieved by limiting the considerate part of system over functionalities.
处理复杂性是产品系统开发的主要挑战，特别是在自主机器人领域。考虑到这种自主机器人的生产系统越来越多地由系统的协同系统(system of Systems, SoS)来实现，增加了其复杂性。为了管理这种复杂性，需要一种系统的方法。下面的论文描述了一种基于通用系统工程(GSE)原理来分析和推导设计建议的方法。这种方法使用通用的思维模型、统一的系统模型和标准化的程序来开发系统。系统模型在过程中实现，并允许对进一步的设计更改进行问题定位。简化是通过将系统考虑的部分限制在功能之上来实现的。
{"title":"Using systems engineering for improving autonomous robot performance","authors":"Stefan Marchlewitz, Jan-Peter Nicklas, P. Winzer","doi":"10.1109/SYSOSE.2015.7151947","DOIUrl":"https://doi.org/10.1109/SYSOSE.2015.7151947","url":null,"abstract":"Handling complexity is a major challenge for the development of product systems, especially in the field of autonomous robots. Considering the production system of such an autonomous robot, which is more and more realized by collaborative System of Systems (SoS), increases the complexity. To manage this complexity, a systematic approach is necessary. The following paper describes an approach to analyze and derive design recommendations based on the principles of Generic Systems Engineering (GSE). This approach uses a common model of thinking, a unified system model and a standardized procedure to develop a system. The system model is actualized within the procedure and allows a problem localization for further design changes. A simplification is achieved by limiting the considerate part of system over functionalities.","PeriodicalId":399744,"journal":{"name":"2015 10th System of Systems Engineering Conference (SoSE)","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-05-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122536581","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 : 2015-05-17DOI: 10.1109/SYSOSE.2015.7151971
Michael Mortimer, B. Horan, M. Joordens, A. Stojcevski
Teleoperation is integral to society's uptake of modern robotic systems. Given the wide array of readily available robots, ranging from simple mobile platforms and UAVs to advanced humanoid robots such as ASIMO and PR2, teleoperation is required in many different forms. The recent advances in virtual reality systems, interactive input controls and even haptic devices facilitate a wide range of new approaches to teleoperation control. This paper considers a dynamic user interface for improving the operator's ability to teleoperate heterogeneous robotic systems in dynamic and challenging environments. In order to achieve the proposed dynamic user interface the robot(s) comprising the heterogeneous robotic system and their active components need to be categorized. The recent uptake of ROS means that many robots are now represented within the standardized Unified Robot Descriptive Format (URDF), and this paper proposes a method for searching the URDF for active serial chains in individual robot systems. Results demonstrate the ability of the approach to determine active serial chains and associated kinematic information for the Baxter torso robot.
{"title":"Searching Baxter's URDF robot joint and link tree for active serial chains","authors":"Michael Mortimer, B. Horan, M. Joordens, A. Stojcevski","doi":"10.1109/SYSOSE.2015.7151971","DOIUrl":"https://doi.org/10.1109/SYSOSE.2015.7151971","url":null,"abstract":"Teleoperation is integral to society's uptake of modern robotic systems. Given the wide array of readily available robots, ranging from simple mobile platforms and UAVs to advanced humanoid robots such as ASIMO and PR2, teleoperation is required in many different forms. The recent advances in virtual reality systems, interactive input controls and even haptic devices facilitate a wide range of new approaches to teleoperation control. This paper considers a dynamic user interface for improving the operator's ability to teleoperate heterogeneous robotic systems in dynamic and challenging environments. In order to achieve the proposed dynamic user interface the robot(s) comprising the heterogeneous robotic system and their active components need to be categorized. The recent uptake of ROS means that many robots are now represented within the standardized Unified Robot Descriptive Format (URDF), and this paper proposes a method for searching the URDF for active serial chains in individual robot systems. Results demonstrate the ability of the approach to determine active serial chains and associated kinematic information for the Baxter torso robot.","PeriodicalId":399744,"journal":{"name":"2015 10th System of Systems Engineering Conference (SoSE)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-05-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129171663","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 : 2015-05-17DOI: 10.1109/SYSOSE.2015.7151940
A. Kinder, M. Henshaw, C. Siemieniuch
This paper discusses the approaches required for risk management of `traditional' (single) Systems and System of Systems (SoS) and identifies key differences between them. When engineering systems, the Risk Management methods applied tend to use qualitative techniques, which provide subjective probabilities and it is argued that, due to the inherent complexity of SoS, more quantitative methods must be adopted. The management of SoS risk must be holistic and should not assume that if risks are managed at the system level then SoS risk will be managed implicitly. A model-based approach is outlined, utilizing a central Bayesian Belief Network (BBN) to represent risks and contributing factors. Supporting models are run using a Monte Carlo approach, thereby generating results, which may be `learnt' by the BBN, reducing the reliance on subjective data.
{"title":"A model based approach to system of systems risk management","authors":"A. Kinder, M. Henshaw, C. Siemieniuch","doi":"10.1109/SYSOSE.2015.7151940","DOIUrl":"https://doi.org/10.1109/SYSOSE.2015.7151940","url":null,"abstract":"This paper discusses the approaches required for risk management of `traditional' (single) Systems and System of Systems (SoS) and identifies key differences between them. When engineering systems, the Risk Management methods applied tend to use qualitative techniques, which provide subjective probabilities and it is argued that, due to the inherent complexity of SoS, more quantitative methods must be adopted. The management of SoS risk must be holistic and should not assume that if risks are managed at the system level then SoS risk will be managed implicitly. A model-based approach is outlined, utilizing a central Bayesian Belief Network (BBN) to represent risks and contributing factors. Supporting models are run using a Monte Carlo approach, thereby generating results, which may be `learnt' by the BBN, reducing the reliance on subjective data.","PeriodicalId":399744,"journal":{"name":"2015 10th System of Systems Engineering Conference (SoSE)","volume":"35 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-05-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114501576","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 : 2015-05-17DOI: 10.1109/SYSOSE.2015.7151905
G. Muller, J. H. Andersen
Factories are examples of system of systems with all related problems of integral ownership, lack of overview, emerging properties, and many stakeholders making decisions locally. In the past 7 years, engineers at the GKN Aerospace factory in Kongsberg have been modeling parts of the factory to tackle the complexity of such a facility. In successive papers, they have shown that modeling helps in understanding, reasoning, communication, and decision making. In this paper, we zoom out and describe from a systems of systems perspective the challenges of modeling the system to improve factory level performance indicators, such as inventory levels and production cycle times.
{"title":"Factory production line as SoS; a case study in airplane engine component manufacturing","authors":"G. Muller, J. H. Andersen","doi":"10.1109/SYSOSE.2015.7151905","DOIUrl":"https://doi.org/10.1109/SYSOSE.2015.7151905","url":null,"abstract":"Factories are examples of system of systems with all related problems of integral ownership, lack of overview, emerging properties, and many stakeholders making decisions locally. In the past 7 years, engineers at the GKN Aerospace factory in Kongsberg have been modeling parts of the factory to tackle the complexity of such a facility. In successive papers, they have shown that modeling helps in understanding, reasoning, communication, and decision making. In this paper, we zoom out and describe from a systems of systems perspective the challenges of modeling the system to improve factory level performance indicators, such as inventory levels and production cycle times.","PeriodicalId":399744,"journal":{"name":"2015 10th System of Systems Engineering Conference (SoSE)","volume":"43 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-05-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131681701","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 : 2015-05-17DOI: 10.1109/SYSOSE.2015.7151926
P. Benavidez, Mohan Kumar, Berat A. Erol, M. Jamshidi, S. Agaian
In many assistive robotic systems, the interface to the user is simply a tablet computer or a monitor attached to a single robot. Missing from approaches are the system extensibility made possible with a tablet computer and a division of work between multiple agents. In this paper we present the design for a software interface to connect users to an assistive robot system for the disabled and elderly. The system is comprised of heterogeneous low-cost assistive robots, a home management portal and a cloud computing backend. The system is designed with the premise that all components do not need to be present for the system to function, but it will be improved when expanded by addition of robots and expanded computing capabilities. This paper focuses on developing the interfaces necessary to connect the user to these systems in a simple and easy to comprehend manner for the target user population.
{"title":"Software interface design for home-based assistive multi-robot system","authors":"P. Benavidez, Mohan Kumar, Berat A. Erol, M. Jamshidi, S. Agaian","doi":"10.1109/SYSOSE.2015.7151926","DOIUrl":"https://doi.org/10.1109/SYSOSE.2015.7151926","url":null,"abstract":"In many assistive robotic systems, the interface to the user is simply a tablet computer or a monitor attached to a single robot. Missing from approaches are the system extensibility made possible with a tablet computer and a division of work between multiple agents. In this paper we present the design for a software interface to connect users to an assistive robot system for the disabled and elderly. The system is comprised of heterogeneous low-cost assistive robots, a home management portal and a cloud computing backend. The system is designed with the premise that all components do not need to be present for the system to function, but it will be improved when expanded by addition of robots and expanded computing capabilities. This paper focuses on developing the interfaces necessary to connect the user to these systems in a simple and easy to comprehend manner for the target user population.","PeriodicalId":399744,"journal":{"name":"2015 10th System of Systems Engineering Conference (SoSE)","volume":"805 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-05-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133842409","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 : 2015-05-17DOI: 10.1109/SYSOSE.2015.7151951
Eduardo Silva, T. Batista, F. Oquendo
In system-of-systems (SoS), a mission is an essential information that can guide the whole SoS development process. Through the so-called mission model, it is possible to identify required capabilities for the constituent system, operations, connections, emergent behavior, among other elements that characterize a SoS. Although the importance of missions for the SoS domain, the literature provides few proposals that focus on mission and none of them encompass a conceptual model for representing missions or a language to define mission models. In this paper, we present mKAOS, a language for SoS mission description that is based on a conceptual model for SoS missions. mKAOS organizes the mission-related information in a set of complementary models that allows a detailed description of mission information independent of implementation details. mKAOS also has an associated tool, mKAOS Studio, an open-source tool for modeling SoS missions using the mKAOS language.
{"title":"A mission-oriented approach for designing system-of-systems","authors":"Eduardo Silva, T. Batista, F. Oquendo","doi":"10.1109/SYSOSE.2015.7151951","DOIUrl":"https://doi.org/10.1109/SYSOSE.2015.7151951","url":null,"abstract":"In system-of-systems (SoS), a mission is an essential information that can guide the whole SoS development process. Through the so-called mission model, it is possible to identify required capabilities for the constituent system, operations, connections, emergent behavior, among other elements that characterize a SoS. Although the importance of missions for the SoS domain, the literature provides few proposals that focus on mission and none of them encompass a conceptual model for representing missions or a language to define mission models. In this paper, we present mKAOS, a language for SoS mission description that is based on a conceptual model for SoS missions. mKAOS organizes the mission-related information in a set of complementary models that allows a detailed description of mission information independent of implementation details. mKAOS also has an associated tool, mKAOS Studio, an open-source tool for modeling SoS missions using the mKAOS language.","PeriodicalId":399744,"journal":{"name":"2015 10th System of Systems Engineering Conference (SoSE)","volume":"36 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-05-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133266569","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 : 2015-05-17DOI: 10.1109/SYSOSE.2015.7151950
Vanea Chiprianov, L. Gallon, Khouloud Salameh, M. Munier, Jamal El Hachem
The Smart Grid, the next generation power grid, comes with promises of widely distributed automated energy delivery, self-monitoring, self-healing, energy efficiency, utility and cost optimization. However, as attacks on the current power grid and similar systems indicate, the Smart Grid will be vulnerable to all kinds of attacks and will even raise new security challenges, due to its complex nature. In this paper we analyze this complexity of the Smart Grid as a System of Systems, and the specific security challenges it raises. To address these challenges we propose a vision/framework based on principles of Software Engineering. This framework structures and brings together the research on Smart Grid security.
{"title":"Towards security software engineering the Smart Grid as a System of Systems","authors":"Vanea Chiprianov, L. Gallon, Khouloud Salameh, M. Munier, Jamal El Hachem","doi":"10.1109/SYSOSE.2015.7151950","DOIUrl":"https://doi.org/10.1109/SYSOSE.2015.7151950","url":null,"abstract":"The Smart Grid, the next generation power grid, comes with promises of widely distributed automated energy delivery, self-monitoring, self-healing, energy efficiency, utility and cost optimization. However, as attacks on the current power grid and similar systems indicate, the Smart Grid will be vulnerable to all kinds of attacks and will even raise new security challenges, due to its complex nature. In this paper we analyze this complexity of the Smart Grid as a System of Systems, and the specific security challenges it raises. To address these challenges we propose a vision/framework based on principles of Software Engineering. This framework structures and brings together the research on Smart Grid security.","PeriodicalId":399744,"journal":{"name":"2015 10th System of Systems Engineering Conference (SoSE)","volume":"35 10","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-05-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131878634","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 : 2015-05-17DOI: 10.1109/SYSOSE.2015.7151952
Benjamin T. Champion, M. Joordens, Blake M. Allan
A tracking system based of the IMU8420 data logger has been created. This tracking system can be used to store the various movements of different types of animal's in-between the GPS signals, leading to a much more accurate representation of what the animal is undergoing at any point in time. This data can then be used to determine the behaviors of the animals, and thus new algorithms can be generated to try and mimic this behavior in robotics. The system could be applied to a swarm of animals to determine what an entire swarm is doing, and thus new swarming algorithms can be created.
{"title":"Tracking animals to determine swarm behavior","authors":"Benjamin T. Champion, M. Joordens, Blake M. Allan","doi":"10.1109/SYSOSE.2015.7151952","DOIUrl":"https://doi.org/10.1109/SYSOSE.2015.7151952","url":null,"abstract":"A tracking system based of the IMU8420 data logger has been created. This tracking system can be used to store the various movements of different types of animal's in-between the GPS signals, leading to a much more accurate representation of what the animal is undergoing at any point in time. This data can then be used to determine the behaviors of the animals, and thus new algorithms can be generated to try and mimic this behavior in robotics. The system could be applied to a swarm of animals to determine what an entire swarm is doing, and thus new swarming algorithms can be created.","PeriodicalId":399744,"journal":{"name":"2015 10th System of Systems Engineering Conference (SoSE)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-05-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130609790","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 : 2015-05-17DOI: 10.1109/SYSOSE.2015.7151923
M. E. Antonio-Toledo, Edgar N. Sanchez, A. Loukianov
This paper describes a neural inverse optimal control approach for a three-phase induction motor position trajectory and flux magnitude tracking. A recurrent high order neural network (RHONN) is used to identify the plant model, trained with an Extended Kalman Filter (EKF) algorithm; the control law minimize a cost functional avoiding to solve the Hamilton Jacobi Bellman (HBJ) equation. The applicability of the approach is illustrated via experimental results. The proposed scheme allows the easy integration of this kind of motors into a system of systems configuration.
{"title":"Real-time neural inverse optimal control for position trajectory tracking of an induction motor","authors":"M. E. Antonio-Toledo, Edgar N. Sanchez, A. Loukianov","doi":"10.1109/SYSOSE.2015.7151923","DOIUrl":"https://doi.org/10.1109/SYSOSE.2015.7151923","url":null,"abstract":"This paper describes a neural inverse optimal control approach for a three-phase induction motor position trajectory and flux magnitude tracking. A recurrent high order neural network (RHONN) is used to identify the plant model, trained with an Extended Kalman Filter (EKF) algorithm; the control law minimize a cost functional avoiding to solve the Hamilton Jacobi Bellman (HBJ) equation. The applicability of the approach is illustrated via experimental results. The proposed scheme allows the easy integration of this kind of motors into a system of systems configuration.","PeriodicalId":399744,"journal":{"name":"2015 10th System of Systems Engineering Conference (SoSE)","volume":"24 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-05-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122213118","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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