Towards the simulation of cooperative perception applications by leveraging distributed sensing infrastructures

With the rapid development of Automated Vehicles (AV), the boundaries of their function alities are being pushed and new challenges are being imposed. In increasingly complex and dynamic environments, it is fundamental to rely on more powerful onboard sensors and usually AI. However, there are limitations to this approach. As AVs are increasingly being integrated in several industries, expectations regarding their cooperation ability is growing, and vehicle-centric approaches to sensing and reasoning, become hard to integrate. The proposed approach is to extend perception to the environment, i.e. outside of the vehicle, by making it smarter, via the deployment of wireless sensors and actuators. This will vastly improve the perception capabilities in dynamic and unpredictable scenarios and often in a cheaper way, relying mostly in the use of lower cost sensors and embedded devices, which rely on their scale deployment instead of centralized sensing abilities. Consequently, to support the development and deployment of such cooperation actions in a seamless way, we require the usage of co-simulation frameworks, that can encompass multiple perspectives of control and communications for the AVs, the wireless sensors and actuators and other actors in the environment. In this work, we rely on ROS2 and micro-ROS as the underlying technologies for integrating several simulation tools, to construct a framework, capable of supporting the development, test and validation of such smart, cooperative environments. This endeavor was undertaken by building upon an existing simulation framework known as AuNa. We extended its capabilities to facilitate the simulation of cooperative scenarios by incorporat ing external sensors placed within the environment rather than just relying on vehicle-based sensors. Moreover, we devised a cooperative perception approach within this framework, showcasing its substantial potential and effectiveness. This will enable the demonstration of multiple cooperation scenarios and also ease the deployment phase by relying on the same software architecture.Com o rápido desenvolvimento dos Veículos Autónomos (AV), os limites das suas funcional idades estão a ser alcançados e novos desafios estão a surgir. Em ambientes complexos e dinâmicos, é fundamental a utilização de sensores de alta capacidade e, na maioria dos casos, inteligência artificial. Mas existem limitações nesta abordagem. Como os AVs estão a ser integrados em várias indústrias, as expectativas quanto à sua capacidade de cooperação estão a aumentar, e as abordagens de perceção e raciocínio centradas no veículo, tornam-se difíceis de integrar. A abordagem proposta consiste em extender a perceção para o ambiente, isto é, fora do veículo, tornando-a inteligente, através do uso de sensores e atuadores wireless. Isto irá melhorar as capacidades de perceção em cenários dinâmicos e imprevisíveis, reduzindo o custo, pois a abordagem será baseada no uso de sensores low-cost e sistemas embebidos, que dependem da sua implementação em grande escala em vez da capacidade de perceção centralizada. Consequentemente, para apoiar o desenvolvimento e implementação destas ações em cooperação, é necessária a utilização de frameworks de co-simulação, que abranjam múltiplas perspetivas de controlo e comunicação para os AVs, sensores e atuadores wireless, e outros atores no ambiente. Neste trabalho será utilizado ROS2 e micro-ROS como as tecnologias subjacentes para a integração das ferramentas de simulação, de modo a construir uma framework capaz de apoiar o desenvolvimento, teste e validação de ambientes inteligentes e cooperativos. Esta tarefa foi realizada com base numa framework de simulação denominada AuNa. Foram expandidas as suas capacidades para facilitar a simulação de cenários cooperativos através da incorporação de sensores externos colocados no ambiente, em vez de depender apenas de sensores montados nos veículos. Além disso, concebemos uma abordagem de perceção cooperativa usando a framework, demonstrando o seu potencial e eficácia. Isto irá permitir a demonstração de múltiplos cenários de cooperação e também facilitar a fase de implementação, utilizando a mesma arquitetura de software

Optical tracking control of a differentially-driven wheeled robot

Mobile robotics has become an increasingly ubiquitous technology in modern times. A typical example is the wheeled mobile robot (WMR). In order for a WMR to function effectively, it must demonstrate excellent tracking control and localisation capabilities. This is achieved by having accurate and responsive control algorithms as well as high-precision sensor systems. However, this often requires complicated algorithms and expensive equipment. This thesis proposes a system to show that good tracking performance can be achieved with moderately simple control algorithm and relatively inexpensive hardware. The platform used in this research was a differentially-driven wheeled robot constructed using the Lego MindstormsNXT system. Positional tracking was provided by two Avago optical laser sensors commonly found on the computer mouse. The main programming environments were MATLAB and Simulink, along with several other open-source applications. In the first part of the thesis, a PID-based system is presented along with the two control schemes. The first is a purely kinematic model and the second includes dynamic constraints. For both versions, a cascaded PID design was employed and settings were manually tuned. The final mathematical models were computationally simulated and their respective results were analysed and compared. Hardware validation was not conducted for this phase of the research as the simulation results suggested that the PID-based system may not produce the desired level of tracking performance. The second part of the thesis explores a model reference adaptive control system. Lyapunov's direct method was used to achieve stability and convergence in the system. In contrast to the PID-based model, a vastly more accurate geometric localisation technique was applied. The research identified a number of shortcomings in current geometric localisation methods and suggested ways to mitigate them. In addition, a novel approach for detecting faulty sensor readings was introduced in conjunction with the development of a semi-redundant system. The eventual theoretical model was tested using computer simulation, and the outcome was contrasted with the results of the PID-based system. This was followed by the construction of a prototype in order to verify the validity of the proposed model. Various configurations of the adaptive model were tested and compared: the two localisation methods, use of single and dual sensors, and application of semi-redundancy. The thesis concludes with the analysis of results of the prototype testing. The theoretical propositions in the thesis were shown to be amply validated. Suggestions for future research work are also presented

Review on hardware-in-the-loop simulation of wave energy converters and power take-offs

This paper reviews the state-of-the-art on Hardware-In-The-Loop simulation methodologies and technologies applied in the research field of wave energy converters. It reveals important issues, such as an unclear taxonomy and representations of these methodologies, which are critical for the success of the approach, mostly during the design of experiments and presentation of results. Moreover, a classification approach to these methodologies is not found in the literature. Thus, a generic taxonomical and classification framework is developed to support the review process. This framework is built based on three taxonomic subsystems that the review shows to be effective in organizing the reviewed methodologies: simulated, real and interface subsystems. In particular, the definition of the interface subsystem is key to overcoming the limitations found in the methodological representations. Furthermore, this review borrows the term actionability to this approach to better describe the nuances and gaps between the reviewed case studies. It is found that the different technical implementations are easily organized with the proposed framework, and the results cover a wide range of wave energy converter development phases. Likewise, this review shows opportunities for improvements in the methodology and application to a wider number of new case studies.info:eu-repo/semantics/publishedVersio

Development of an Emulated Free-Floating Environment for On-Earth Testing of Space Robots

The ability to perform experiments on space robotic systems within a laboratory setting is crucial to development and testing of satellites and space robots prior to launch. One of the most widely used techniques which recreate the on-orbit motion of space robots and targets is hardware-in-the-loop simulation. This method requires extensive knowledge of the space robot model dynamic parameters. This research proposes a method which uses force feedback to control a robotic platform on which the space robot is mounted. The robotic platform is driven in such a way that the gravity-compensated forces and torques at the mounting interface are nullified. This method requires minimal knowledge of the system model and dynamic parameters. In this thesis, simulations are performed on both two-dimensional and three-dimensional systems and experimental validation on a two-dimensional system is conducted for proof-of-concept

Control and communication systems for automated vehicles cooperation and coordination

Mención Internacional en el título de doctorThe technological advances in the Intelligent Transportation Systems (ITS) are exponentially improving over the last century. The objective is to provide intelligent and innovative services for the different modes of transportation, towards a better, safer, coordinated and smarter transport networks. The Intelligent Transportation Systems (ITS) focus is divided into two main categories; the first is to improve existing components of the transport networks, while the second is to develop intelligent vehicles which facilitate the transportation process. Different research efforts have been exerted to tackle various aspects in the fields of the automated vehicles. Accordingly, this thesis is addressing the problem of multiple automated vehicles cooperation and coordination. At first, 3DCoAutoSim driving simulator was developed in Unity game engine and connected to Robot Operating System (ROS) framework and Simulation of Urban Mobility (SUMO). 3DCoAutoSim is an abbreviation for "3D Simulator for Cooperative Advanced Driver Assistance Systems (ADAS) and Automated Vehicles Simulator". 3DCoAutoSim was tested under different circumstances and conditions, afterward, it was validated through carrying-out several controlled experiments and compare the results against their counter reality experiments. The obtained results showed the efficiency of the simulator to handle different situations, emulating real world vehicles. Next is the development of the iCab platforms, which is an abbreviation for "Intelligent Campus Automobile". The platforms are two electric golf-carts that were modified mechanically, electronically and electrically towards the goal of automated driving. Each iCab was equipped with several on-board embedded computers, perception sensors and auxiliary devices, in order to execute the necessary actions for self-driving. Moreover, the platforms are capable of several Vehicle-to-Everything (V2X) communication schemes, applying three layers of control, utilizing cooperation architecture for platooning, executing localization systems, mapping systems, perception systems, and finally several planning systems. Hundreds of experiments were carried-out for the validation of each system in the iCab platform. Results proved the functionality of the platform to self-drive from one point to another with minimal human intervention.Los avances tecnológicos en Sistemas Inteligentes de Transporte (ITS) han crecido de forma exponencial durante el último siglo. El objetivo de estos avances es el de proveer de sistemas innovadores e inteligentes para ser aplicados a los diferentes medios de transporte, con el fin de conseguir un transporte mas eficiente, seguro, coordinado e inteligente. El foco de los ITS se divide principalmente en dos categorías; la primera es la mejora de los componentes ya existentes en las redes de transporte, mientras que la segunda es la de desarrollar vehículos inteligentes que hagan más fácil y eficiente el transporte. Diferentes esfuerzos de investigación se han llevado a cabo con el fin de solucionar los numerosos aspectos asociados con la conducción autónoma. Esta tesis propone una solución para la cooperación y coordinación de múltiples vehículos. Para ello, en primer lugar se desarrolló un simulador (3DCoAutoSim) de conducción basado en el motor de juegos Unity, conectado al framework Robot Operating System (ROS) y al simulador Simulation of Urban Mobility (SUMO). 3DCoAutoSim ha sido probado en diferentes condiciones y circunstancias, para posteriormente validarlo con resultados a través de varios experimentos reales controlados. Los resultados obtenidos mostraron la eficiencia del simulador para manejar diferentes situaciones, emulando los vehículos en el mundo real. En segundo lugar, se desarrolló la plataforma de investigación Intelligent Campus Automobile (iCab), que consiste en dos carritos eléctricos de golf, que fueron modificados eléctrica, mecánica y electrónicamente para darle capacidades autónomas. Cada iCab se equipó con diferentes computadoras embebidas, sensores de percepción y unidades auxiliares, con la finalidad de transformarlos en vehículos autónomos. Además, se les han dado capacidad de comunicación multimodal (V2X), se les han aplicado tres capas de control, incorporando una arquitectura de cooperación para operación en modo tren, diferentes esquemas de localización, mapeado, percepción y planificación de rutas. Innumerables experimentos han sido realizados para validar cada uno de los diferentes sistemas incorporados. Los resultados prueban la funcionalidad de esta plataforma para realizar conducción autónoma y cooperativa con mínima intervención humana.Programa Oficial de Doctorado en Ingeniería Eléctrica, Electrónica y AutomáticaPresidente: Francisco Javier Otamendi Fernández de la Puebla.- Secretario: Hanno Hildmann.- Vocal: Pietro Cerr

The programmable spring: towards physical emulators of mechanical systems

The way motion is generated and controlled in robotics has traditionally been based on a philosophy of rigidity, where movements are tightly controlled and external influences are ironed out. More recent research into autonomous robots, biological actuation and human machine interaction has uncovered the value of compliant mechanisms in both aiding the production of effective, adaptive and efficient behaviour, and increasing the margins for safety in machines that operate alongside people. Various actuation methods have previously been proposed that allow robotic systems to exploit rather than avoid the influences of external perturbations, but many of these devices can be complex and costly to engineer, and are often task specific. This thesis documents the development of a general purpose modular actuator that can emulate the behaviour of various spring damping systems. It builds on some of the work done to produce reliable force controlled electronic actuators by developing a low cost implementation of an existing force actuator, and combining it with a novel high level control structure running in software on an embedded microcontroller. The actuator hardware with its embedded software results in a compact modular device capable of approximating the behaviour of various mechanical systems and actuation devices. Specifying these behaviours is achieved with an intuitive user interface and a control system based on a concept called profile groups. Profile group configurations that specify complex mechanical behaviours can be rapidly designed and the resulting configurations downloaded for a device to emulate. The novel control system and intuitive user interface developed to facilitate the rapid prototyping of mechanical behaviours are explained in detail. Two prototype devices are demonstrated emulating a number of mechanical systems and the results are compared to mechanical counterparts. Performance issues are discussed and some solutions proposed alongside general improvements to the control system. The applications beyond robotics are also explored

Towards a Common Software/Hardware Methodology for Future Advanced Driver Assistance Systems

The European research project DESERVE (DEvelopment platform for Safe and Efficient dRiVE, 2012-2015) had the aim of designing and developing a platform tool to cope with the continuously increasing complexity and the simultaneous need to reduce cost for future embedded Advanced Driver Assistance Systems (ADAS). For this purpose, the DESERVE platform profits from cross-domain software reuse, standardization of automotive software component interfaces, and easy but safety-compliant integration of heterogeneous modules. This enables the development of a new generation of ADAS applications, which challengingly combine different functions, sensors, actuators, hardware platforms, and Human Machine Interfaces (HMI). This book presents the different results of the DESERVE project concerning the ADAS development platform, test case functions, and validation and evaluation of different approaches. The reader is invited to substantiate the content of this book with the deliverables published during the DESERVE project. Technical topics discussed in this book include:Modern ADAS development platforms;Design space exploration;Driving modelling;Video-based and Radar-based ADAS functions;HMI for ADAS;Vehicle-hardware-in-the-loop validation system

Design and verification of Guidance, Navigation and Control systems for space applications

In the last decades, systems have strongly increased their complexity in terms of number of functions that can be performed and quantity of relationships between functions and hardware as well as interactions of elements and disciplines concurring to the definition of the system. The growing complexity remarks the importance of defining methods and tools that improve the design, verification and validation of the system process: effectiveness and costs reduction without loss of confidence in the final product are the objectives that have to be pursued. Within the System Engineering context, the modern Model and Simulation based approach seems to be a promising strategy to meet the goals, because it reduces the wasted resources with respect to the traditional methods, saving money and tedious works. Model Based System Engineering (MBSE) starts from the idea that it is possible at any moment to verify, through simulation sessions and according to the phase of the life cycle, the feasibility, the capabilities and the performances of the system. Simulation is used during the engineering process and can be classified from fully numerical (i.e. all the equipment and conditions are reproduced as virtual model) to fully integrated hardware simulation (where the system is represented by real hardware and software modules in their operational environment). Within this range of simulations, a few important stages can be defined: algorithm in the loop (AIL), software in the loop (SIL), controller in the loop (CIL), hardware in the loop (HIL), and hybrid configurations among those. The research activity, in which this thesis is inserted, aims at defining and validating an iterative methodology (based on Model and Simulation approach) in support of engineering teams and devoted to improve the effectiveness of the design and verification of a space system with particular interest in Guidance Navigation and Control (GNC) subsystem. The choice of focusing on GNC derives from the common interest and background of the groups involved in this research program (ASSET at Politecnico di Torino and AvioSpace, an EADS company). Moreover, GNC system is sufficiently complex (demanding both specialist knowledge and system engineer skills) and vital for whatever spacecraft and, last but not least the verification of its behavior is difficult on ground because strong limitations on dynamics and environment reproduction arise. Considering that the verification should be performed along the entire product life cycle, a tool and a facility, a simulator, independent from the complexity level of the test and the stage of the project, is needed. This thesis deals with the design of the simulator, called StarSim, which is the real heart of the proposed methodology. It has been entirely designed and developed from the requirements definition to the software implementation and hardware construction, up to the assembly, integration and verification of the first simulator release. In addition, the development of this technology met the modern standards on software development and project management. StarSim is a unique and self-contained platform: this feature allows to mitigate the risk of incompatibility, misunderstandings and loss of information that may arise using different software, simulation tools and facilities along the various phases. Modularity, flexibility, speed, connectivity, real time operation, fidelity with real world, ease of data management, effectiveness and congruence of the outputs with respect to the inputs are the sought-after features in the StarSim design. For every iteration of the methodology, StarSim guarantees the possibility to verify the behavior of the system under test thanks to the permanent availability of virtual models, that substitute all those elements not yet available and all the non-reproducible dynamics and environmental conditions. StarSim provides a furnished and user friendly database of models and interfaces that cover different levels of detail and fidelity, and supports the updating of the database allowing the user to create custom models (following few, simple rules). Progressively, pieces of the on board software and hardware can be introduced without stopping the process of design and verification, avoiding delays and loss of resources. StarSim has been used for the first time with the CubeSats belonging to the e-st@r program. It is an educational project carried out by students and researchers of the “CubeSat Team Polito” in which StarSim has been mainly used for the payload development, an Active Attitude Determination and Control System, but StarSim’s capabilities have also been updated to evaluate functionalities, operations and performances of the entire satellite. AIL, SIL, CIL, HIL simulations have been performed along all the phases of the project, successfully verifying a great number of functional and operational requirements. In particular, attitude determination algorithms, control laws, modes of operation have been selected and verified; software has been developed step by step and the bugs-free executable files have been loaded on the micro-controller. All the interfaces and protocols as well as data and commands handling have been verified. Actuators, logic and electrical circuits have been designed, built and tested and sensors calibration has been performed. Problems such as real time and synchronization have been solved and a complete hardware in the loop simulation test campaign both for A-ADCS standalone and for the entire satellite has been performed, verifying the satisfaction of a great number of CubeSat functional and operational requirements. The case study represents the first validation of the methodology with the first release of StarSim. It has been proven that the methodology is effective in demonstrating that improving the design and verification activities is a key point to increase the confidence level in the success of a space mission

Towards a Common Software/Hardware Methodology for Future Advanced Driver Assistance Systems

The European research project DESERVE (DEvelopment platform for Safe and Efficient dRiVE, 2012-2015) had the aim of designing and developing a platform tool to cope with the continuously increasing complexity and the simultaneous need to reduce cost for future embedded Advanced Driver Assistance Systems (ADAS). For this purpose, the DESERVE platform profits from cross-domain software reuse, standardization of automotive software component interfaces, and easy but safety-compliant integration of heterogeneous modules. This enables the development of a new generation of ADAS applications, which challengingly combine different functions, sensors, actuators, hardware platforms, and Human Machine Interfaces (HMI). This book presents the different results of the DESERVE project concerning the ADAS development platform, test case functions, and validation and evaluation of different approaches. The reader is invited to substantiate the content of this book with the deliverables published during the DESERVE project. Technical topics discussed in this book include:Modern ADAS development platforms;Design space exploration;Driving modelling;Video-based and Radar-based ADAS functions;HMI for ADAS;Vehicle-hardware-in-the-loop validation system

μGIM - Microgrid intelligent management system based on a multi-agent approach and the active participation of end-users

[ES] Los sistemas de potencia y energía están cambiando su paradigma tradicional, de sistemas centralizados a sistemas descentralizados. La aparición de redes inteligentes permite la integración de recursos energéticos descentralizados y promueve la gestión inclusiva que involucra a los usuarios finales, impulsada por la gestión del lado de la demanda, la energía transactiva y la respuesta a la demanda. Garantizar la escalabilidad y la estabilidad del servicio proporcionado por la red, en este nuevo paradigma de redes inteligentes, es más difícil porque no hay una única sala de operaciones centralizada donde se tomen todas las decisiones. Para implementar con éxito redes inteligentes, es necesario combinar esfuerzos entre la ingeniería eléctrica y la ingeniería informática. La ingeniería eléctrica debe garantizar el correcto funcionamiento físico de las redes inteligentes y de sus componentes, estableciendo las bases para un adecuado monitoreo, control, gestión, y métodos de operación. La ingeniería informática desempeña un papel importante al proporcionar los modelos y herramientas computacionales adecuados para administrar y operar la red inteligente y sus partes constituyentes, representando adecuadamente a todos los diferentes actores involucrados. Estos modelos deben considerar los objetivos individuales y comunes de los actores que proporcionan las bases para garantizar interacciones competitivas y cooperativas capaces de satisfacer a los actores individuales, así como cumplir con los requisitos comunes con respecto a la sostenibilidad técnica, ambiental y económica del Sistema. La naturaleza distribuida de las redes inteligentes permite, incentiva y beneficia enormemente la participación activa de los usuarios finales, desde actores grandes hasta actores más pequeños, como los consumidores residenciales. Uno de los principales problemas en la planificación y operación de redes eléctricas es la variación de la demanda de energía, que a menudo se duplica más que durante las horas pico en comparación con la demanda fuera de pico. Tradicionalmente, esta variación dio como resultado la construcción de plantas de generación de energía y grandes inversiones en líneas de red y subestaciones. El uso masivo de fuentes de energía renovables implica mayor volatilidad en lo relativo a la generación, lo que hace que sea más difícil equilibrar el consumo y la generación. La participación de los actores de la red inteligente, habilitada por la energía transactiva y la respuesta a la demanda, puede proporcionar flexibilidad en desde el punto de vista de la demanda, facilitando la operación del sistema y haciendo frente a la creciente participación de las energías renovables. En el ámbito de las redes inteligentes, es posible construir y operar redes más pequeñas, llamadas microrredes. Esas son redes geográficamente limitadas con gestión y operación local. Pueden verse como áreas geográficas restringidas para las cuales la red eléctrica generalmente opera físicamente conectada a la red principal, pero también puede operar en modo isla, lo que proporciona independencia de la red principal. Esta investigación de doctorado, realizada bajo el Programa de Doctorado en Ingeniería Informática de la Universidad de Salamanca, aborda el estudio y el análisis de la gestión de microrredes, considerando la participación activa de los usuarios finales y la gestión energética de lascarga eléctrica y los recursos energéticos de los usuarios finales. En este trabajo de investigación se ha analizado el uso de conceptos de ingeniería informática, particularmente del campo de la inteligencia artificial, para apoyar la gestión de las microrredes, proponiendo un sistema de gestión inteligente de microrredes (μGIM) basado en un enfoque de múltiples agentes y en la participación activa de usuarios. Esta solución se compone de tres sistemas que combinan hardware y software: el emulador de virtual a realidad (V2R), el enchufe inteligente de conciencia ambiental de Internet de las cosas (EnAPlug), y la computadora de placa única para energía basada en el agente (S4E) para permitir la gestión del lado de la demanda y la energía transactiva. Estos sistemas fueron concebidos, desarrollados y probados para permitir la validación de metodologías de gestión de microrredes, es decir, para la participación de los usuarios finales y para la optimización inteligente de los recursos. Este documento presenta todos los principales modelos y resultados obtenidos durante esta investigación de doctorado, con respecto a análisis de vanguardia, concepción de sistemas, desarrollo de sistemas, resultados de experimentación y descubrimientos principales. Los sistemas se han evaluado en escenarios reales, desde laboratorios hasta sitios piloto. En total, se han publicado veinte artículos científicos, de los cuales nueve se han hecho en revistas especializadas. Esta investigación de doctorado realizó contribuciones a dos proyectos H2020 (DOMINOES y DREAM-GO), dos proyectos ITEA (M2MGrids y SPEAR), tres proyectos portugueses (SIMOCE, NetEffiCity y AVIGAE) y un proyecto con financiación en cascada H2020 (Eco-Rural -IoT)