1,066 research outputs found
Modelling interdependencies between the electricity and information infrastructures
The aim of this paper is to provide qualitative models characterizing
interdependencies related failures of two critical infrastructures: the
electricity infrastructure and the associated information infrastructure. The
interdependencies of these two infrastructures are increasing due to a growing
connection of the power grid networks to the global information infrastructure,
as a consequence of market deregulation and opening. These interdependencies
increase the risk of failures. We focus on cascading, escalating and
common-cause failures, which correspond to the main causes of failures due to
interdependencies. We address failures in the electricity infrastructure, in
combination with accidental failures in the information infrastructure, then we
show briefly how malicious attacks in the information infrastructure can be
addressed
An architecture-based dependability modeling framework using AADL
For efficiency reasons, the software system designers' will is to use an
integrated set of methods and tools to describe specifications and designs, and
also to perform analyses such as dependability, schedulability and performance.
AADL (Architecture Analysis and Design Language) has proved to be efficient for
software architecture modeling. In addition, AADL was designed to accommodate
several types of analyses. This paper presents an iterative dependency-driven
approach for dependability modeling using AADL. It is illustrated on a small
example. This approach is part of a complete framework that allows the
generation of dependability analysis and evaluation models from AADL models to
support the analysis of software and system architectures, in critical
application domains
Contribution Ă la planification de mouvement pour robots humanoĂŻdes
cette thèse porte sur des algorithmes de contrôle et de planification de mouvements pour les robots humanoïdes. Le grand nombre de paramètres caractérisant ces systèmes a conduit au développement de méthodes numériques, d'abord appliquées aux bras manipulateurs et récemment adaptées pour les structures plus complexes. On relève particulièrement les formalismes de commande cinématique et dynamique par priorité qui permettent de produire un mouvement selon une hiérarchie préétablie des tâches. Au cours de ce travail, nous avons identifié le besoin d'étendre ce formalisme afin de tenir compte de contraintes unilatérales. Nous nous sommes par ailleurs intéressés à la planification de la locomotion en fonction des tâches. Nous proposons une modélisation jointe du robot et de sa trajectoire de marche comme une structure articulée unique saisissant à la fois les degrés de liberté actionnés (articulations motorisées du robot) et non actionnés (positionnement absolu dans l'espace). L'ensemble de ces algorithmes, qui seront longuement illustrés, ont été implémentés au sein du projet HPP (Humanoid Path Planner) et validés sur le robot humanoïde HRP-2.this thesis is related to motion control and planning algorithms for humanoid robots. For such highly-parameterized systems, numerical methods are well adapted and have thus been the enter of increasing attention in the recent years. Among the prominent numerical schemes, we recognized the prioritized inverse kinematics and dynamics frameworks to hold key features to plan motion for humanoid robots, such as the possibility to control the motion while enforcing a strict priority order among tasks. We have, however, identified a lack of support of strict priority enforcement when inequality constraints are to be accounted for in the numerical schemes and we were successful in proposing a solution to this shortcoming. We also considered the problem of planning bipedal locomotion according to any given tasks. We proposed to model this problem as an inverse kinematics problem, by considering the kinematic structure of the robot and its walk path as a single unified structure that captures both the degrees of freedom of the robot which are actuated (motorized joints) and those which are not (position and orientation in space). The presented algorithms, which will be abundantly illustrated, have been implemented within the HPP (Humanoid Path Planner) project and validated on the humanoid robot HRP-2
Software dependability modeling using an industry-standard architecture description language
Performing dependability evaluation along with other analyses at
architectural level allows both making architectural tradeoffs and predicting
the effects of architectural decisions on the dependability of an application.
This paper gives guidelines for building architectural dependability models for
software systems using the AADL (Architecture Analysis and Design Language). It
presents reusable modeling patterns for fault-tolerant applications and shows
how the presented patterns can be used in the context of a subsystem of a
real-life application
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