BDD-based supervisory control on extended finite automata

In this paper, we settle some problems that are encountered when modeling and synthesizing complex industrial systems by the supervisory control theory. First, modeling such huge systems with explicit state-transition models typically results in an intractable model. An alternative modeling approach is to use extended finite automata (EFAs), which is an augmentation of ordinary automata with variables. The main advantage of utilizing EFAs for modeling is that more compact models are obtained. The second problem concerns the ease to understand and implement the supervisor. To handle this problem, we represent the supervisor in a modular manner by extending the original EFAs by compact conditional expressions generated from the monolithic supervisor. In order to, potentially, be able to handle complex systems efficiently, the models are symbolically represented by binary decision diagrams (BDDs). All computations that are performed in this framework are based on BDD operations. The framework has been implemented in a supervisory control tool and applied to industrially relevant benchmark problems

Dynamic Surgery Assignment of Multiple Operating Rooms With Planned Surgeon Arrival Times

International audienceThis paper addresses the dynamic assignment of a given set of surgeries to multiple identical operating rooms (ORs). Surgeries have random durations and planned surgeon arrival times. Surgeries are assigned dynamically to ORs at surgery completion events. The goal is to minimize the total expected cost incurred by surgeon waiting, OR idling, and OR overtime. We first formulate the problem as a multi-stage stochastic programming model. An efficient algorithm is then proposed by combining a two-stage stochastic programming approximation and some look-ahead strategies. A perfect information-based lower bound of the optimal expected cost is given to evaluate the optimality gap of the dynamic assignment strategy. Numerical results show that the dynamic scheduling and optimization with the proposed approach significantly improve the performance of static scheduling and First Come First Serve (FCFS) strategy

Model-based testing of PLC programs with appropriate conformance relations

International audienceNumerous theoretical results have been obtained in the field of conformance testing, a very promising formal technique to improve dependability of critical systems. Nevertheless, developing on this basis PLC test techniques that produce correct conformance verdicts requires to take into account the real technological features of PLC. This paper proposes conformance relations that meet this objective. Examples illustrate the benefits of the contribution

Front-End Monitoring of Multiple Loads in Wireless Power Transfer Systems Without Wireless Communication Systems

5siThis paper describes a method for monitoring multiple loads from the front end of a wireless power transfer system without using any wireless communication systems. A mathematical approach based on scanning the frequency around the resonant frequency has been developed for deriving the load conditions. The proposal requires only information of the input voltage and current, thereby eliminating the requirements of using wireless communication systems for feedback control. The proposal has been practically confirmed in hardware prototype with good results.reservedmixedYin, J.; Lin, D.; Lee, C. K.; Parisini, T.; Hui, S. Y. R.Yin, J.; Lin, D.; Lee, C. K.; Parisini, Thomas; Hui, S. Y. R

Avian-Inspired Claws Enable Robot Perching or Walking

Multimodal UAVs (Unmanned Aerial Vehicles) are rarely capable of more than two modalities, i.e., flying and walking or flying and perching. However, being able to fly, perch, and walk could further improve their usefulness by expanding their operating envelope. For instance, an aerial robot could fly a long distance, perch in a high place to survey the surroundings, then walk to avoid obstacles that could potentially inhibit flight. Birds are capable of these three tasks, and so offer a practical example of how a robot might be developed to do the same. In this paper, we present a specialized avian-inspired claw design to enable UAVs to perch passively or walk. The key innovation is the combination of a Hoberman linkage leg with Fin Ray claw that uses the weight of the UAV to wrap the claw around a perch, or hyperextend it in the opposite direction to form a curved-up shape for stable terrestrial locomotion. Because the design uses the weight of the vehicle, the underactuated design is lightweight and low power. With the inclusion of talons, the 45g claws are capable of holding a 700g UAV to an almost 20-degree angle on a perch. In scenarios where cluttered environments impede flight and long mission times are required, such a combination of flying, perching, and walking is critical.Comment: 15 pages, 12 figure

On Robots and Insurance

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Engage D2.2 Final Communication and Dissemination Report

This deliverable reports on the communication and dissemination activities carried out by the Engage consortium over the duration of the network. Planned activities have been adapted due to the Covid-19 pandemic, however a full programme of workshops and summer schools has been organised. Support has been given to the annual SESAR Innovation Days conference and there has been an Engage presence at many other events. The Engage website launched in the first month of the network. This was later joined by the Engage ‘knowledge hub’, known as the EngageWiki, which hosts ATM research and knowledge. The wiki provides a platform and consolidated repository with novel user functionality, as well as an additional channel for the dissemination of SESAR results. Engage has also supported and publicised numerous research outputs produced by PhD candidates and catalyst fund projects