Co-simulated digital twin on the network edge: A vehicle platoon

This paper presents an approach to create high-fidelity models suited for digital twin application of distributed multi-agent cyber–physical systems (CPSs) exploiting the combination of simulation units through co-simulation. This approach allows for managing the complexity of cyber–physical systems by decomposing them into multiple intertwined components tailored to specific domains. The native modular design simplifies the building, testing, prototyping, and extending CPSs compared to monolithic simulator approaches. A system of platoon of vehicles is used as a case study to show the advantages achieved with the proposed approach. Multiple components model the physical dynamics, the communication network and protocol, as well as different control software and external environmental situations. The model of the platooning system is used to compare the performance of Vehicle-to-Vehicle communication against a centralized multi-access edge computing paradigm. Moreover, exploiting the detailed model of vehicle dynamics, different road surface conditions are considered to evaluate the performance of the platooning system. Finally, taking advantage of the co-simulation approach, a solution to drive a platoon in critical road conditions has been proposed. The paper shows how co-simulation and design space exploration can be used for parameter calibration and the design of countermeasures to unsafe situations

Heat shock protein 90 is associated with hyperplasia and neoplastic transformation of canine prostatic epithelial cells

Heat shock protein 90 (HSP90) is a molecular chaperone that regulates critical signalling proteins of cancer development and progression. Abnormal levels of HSP90 have been observed in human prostatic carcinoma (PC), with prognostic and therapeutic implications. Since spontaneously arising canine PC is a valuable model for the human disease, the aim of this study was to evaluate the immunohistochemical expression of HSP90 in two normal canine prostates, 17 canine prostates with benign prostatic hyperplasia (BPH) and five canine prostates with PC. HSP90 was expressed in the cytoplasm of epithelial cells in all samples, with a significant increase in labelled cells in PCs. Nuclear labelling was observed occasionally in normal tissue, but was increased in BPH and PC. HSP90 immunoreactivity in preneoplastic lesions (proliferative inflammatory atrophy and prostatic intraepithelial neoplasia) was similar to that in PCs. Increased HSP90 expression in canine PCs suggests the involvement of this molecule in carcinogenesis and tumour progression, supporting HSP90 as a potential target for therapeutic intervention

Design and Validation of Cyber-Physical Systems Through Co-Simulation: The Voronoi Tessellation Use Case

This paper reports on the use of co-simulation techniques to build prototypes of co-operative autonomous robotic cyber-physical systems. Designing such systems involves a mission-specific planner algorithm, a control algorithm to drive an agent performing its task; and the plant model to simulate the agent dynamics. An application aimed at positioning a swarm of unmanned aerial vehicles (drones) in a bounded area, exploiting a Voronoi tessellation algorithm developed in this work, is taken as a case study. The paper shows how co-simulation allows testing the complex system at the design phase using models created with different languages and tools. The paper then reports on how the adopted co-simulation platform enables control parameters calibration, by exploiting design space exploration technology. The INTO-CPS co-simulation platform, compliant with the Functional Mock-up Interface standard to exchange dynamic simulation models using various languages, was used in this work. The different software modules were written in Modelica, C, and Python. In particular, the latter was used to implement an original variant of the Voronoi algorithm to tesselate a convex polygonal region, by means of dummy points added at appropriate positions outside the bounding polygon. A key contribution of this case study is that it demonstrates how an accurate simulation of a cooperative drone swarm requires modeling the physical plant together with the high-level coordination algorithm. The coupling of co-simulation and design space exploration has been demonstrated to support control parameter calibration to optimize energy consumption and convergence time to the target positions of the drone swarm. From a practical point of view, this makes it possible to test the ability of the swarm to self-deploy in space in order to achieve optimal detection coverage and allow unmanned aerial vehicles in a swarm to coordinate with each other

Block-Based Models and Theorem Proving in Model-Based Development

This paper presents a methodology to integrate computer-assisted theorem proving into a standard workflow for model-based development that uses a block-based language as a modeling and simulation tool. The theorem prover provides confidence in the results of the analysis as it guides the developers towards a correct formalization of the system under development

evaluation of fatigue damage with an energy criterion of simple implementation

Abstract Many theoretical methods for multiaxial fatigue life prediction are present in literature, most of them based on their effectiveness on knowledge of the entire stress time history. This represents the great applicative limit. The incapacity to study real situations, not only deterministic one, let the authors to develop a simple and rigorous criterion, which helps the designer who works in this area. The criterion is presented focusing the attention on the basic premise, highlighting its applicability, its practicality and its computational power. To do that, the Authors take into account the deterministic or random character of the individual constraint components and their degree of correlation. In order to verify the method, simulations of multiaxial loads conditions, developed in the time domain, will be carried out with various correlation levels between the stress components on which the method will be applied

correction formula approach to evaluate fatigue damage induced by non gaussian stress state

Abstract In the present paper the authors define an original analytical expression of a corrective coefficient to evaluate fatigue damage induced by a non-Gaussian stress state affected by high Kurtosis (values higher than 5) and by zero Skewness. This approach starts from a previous activity in which the authors solved an analogous problem but for light non-Gaussian stress states (Kurtosis value less than 5). The proposed procedure assumes to know the fatigue damage induced by Gaussian equivalent stress state time domain process. This characteristic allows the proposed procedure to be easily adopted inside the so-called Frequency Domain Fatigue Methods but in parallel with the statistical analysis of the system time domain response (Kurtosis and Skewness evaluation). Interesting considerations about its applicability will be proposed as concerns the non-Gaussianity and non-Stationarity of the inputs when the system is a flexible component excited in its frequency range

A human-oriented design process for collaborative robotics

The potential of collaborative robotics often does not materialize in an efficient design of the human-robot collaboration. Technology-oriented approaches are no longer enough in the Industry 4.0 era. This work proposes a set of methods to support manufacturing engineers in the human-oriented design process of integrated production systems to obtain satisfactory performance in the mass customization paradigm, without impacting the safety and health of workers. It founds the design criteria definition on five main pillars (safety, ergonomics, effectiveness, flexibility, and costs), favors the consideration of different design alternatives, and leads their selection. The dynamic impact of the design choices on the various elements of the system prevails over the static design constraints. The method has been experimented in collaboration with the major kitchen manufacturer in Italy, which introduced a collaborative robotics cell in the drawers' assembly line. It resulted in a more balanced production line (10% more), a verified risk minimization (RULA score reduced from 5 to 3 and OCRA score from 13.30 to 5.70), and a greater allocation of operators to high added value activities