Proceedings of the ACM/IEEE Sixth International Conference on Cyber-Physical Systems最新文献_第2页

Charge scheduling for large-scale battery management systems 大型电池管理系统的充电调度

Proceedings of the ACM/IEEE Sixth International Conference on Cyber-Physical Systems Pub Date : 2015-04-14 DOI: 10.1145/2735960.2735989

Jinkyu Lee

引用次数: 0

Methodology for generating attack trees for interoperable medical devices 互操作医疗设备的攻击树生成方法

Proceedings of the ACM/IEEE Sixth International Conference on Cyber-Physical Systems Pub Date : 2015-04-14 DOI: 10.1145/2735960.2735993

Jian Xu, Vasiliki Sfyrla, K. Venkatasubramanian

引用次数: 0

Cyber-physical security for smart cars: taxonomy of vulnerabilities, threats, and attacks 智能汽车的网络物理安全:漏洞、威胁和攻击的分类

Proceedings of the ACM/IEEE Sixth International Conference on Cyber-Physical Systems Pub Date : 2015-04-14 DOI: 10.1145/2735960.2735992

Abdulmalik Humayed, Bo Luo

引用次数: 20

A switched control scheme to handle quantisation in the design of high-precision computing system components 在设计高精度计算系统组件时，采用了一种处理量化的开关控制方案

Proceedings of the ACM/IEEE Sixth International Conference on Cyber-Physical Systems Pub Date : 2015-04-14 DOI: 10.1145/2735960.2735991

F. Terraneo, A. Leva, M. Prandini

引用次数: 0

Realization of nonlinear real-time optimization based controllers on self-contained transfemoral prosthesis 独立股骨假体非线性实时优化控制器的实现

Proceedings of the ACM/IEEE Sixth International Conference on Cyber-Physical Systems Pub Date : 2015-04-14 DOI: 10.1145/2735960.2735964

Huihua Zhao, Jake Reher, J. Horn, V. Paredes, A. Ames

{"title":"Realization of nonlinear real-time optimization based controllers on self-contained transfemoral prosthesis","authors":"Huihua Zhao, Jake Reher, J. Horn, V. Paredes, A. Ames","doi":"10.1145/2735960.2735964","DOIUrl":"https://doi.org/10.1145/2735960.2735964","url":null,"abstract":"Lower-limb prosthesis provide a prime example of cyber-physical systems (CPSs) that interact with humans in a safety critical fashion, and therefore require the synergistic development of sensing, algorithms and controllers. With a view towards better understanding CPSs of this form, this paper presents a methodology for successfully translating nonlinear real-time optimization based controllers from bipedal robots to a novel custom built self-contained powered transfemoral prosthesis: AMPRO. To achieve this goal, we begin by collecting reference human locomotion data via Inertial measurement Units (IMUs). This data forms the basis for an optimization problem that generates virtual constraints, i.e., parametrized trajectories, for the prosthesis that provably yields walking in simulation. Leveraging methods that have proven successful in generating stable robotic locomotion, control Lyapunov function (CLF) based Quadratic Programs (QPs) are utilized to optimally track the resulting desired trajectories. The parameterization of the trajectories is determined through a combination of on-board sensing on the prosthesis together with IMU data, thereby coupling the actions of the user with the controller. Finally, impedance control is integrated into the QP yielding an optimization based control law that displays remarkable tracking and robustness, outperforming traditional PD and impedance control strategies. This is demonstrated experimentally on AMPRO through the implementation of the holistic sensing, algorithm and control framework, with the end result being stable and human-like walking.","PeriodicalId":344612,"journal":{"name":"Proceedings of the ACM/IEEE Sixth International Conference on Cyber-Physical Systems","volume":"45 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-04-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124996382","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}

引用次数: 24

A hybrid model predictive controller for path planning and path following 一种用于路径规划和路径跟踪的混合模型预测控制器

Proceedings of the ACM/IEEE Sixth International Conference on Cyber-Physical Systems Pub Date : 2015-04-14 DOI: 10.1145/2735960.2735966

Kun Zhang, J. Sprinkle, R. Sanfelice

{"title":"A hybrid model predictive controller for path planning and path following","authors":"Kun Zhang, J. Sprinkle, R. Sanfelice","doi":"10.1145/2735960.2735966","DOIUrl":"https://doi.org/10.1145/2735960.2735966","url":null,"abstract":"The use of nonlinear model-predictive methods for path planning and following has the advantage of concurrently solving problems of obstacle avoidance, feasible trajectory selection, and trajectory following, while obeying constraints on control inputs and state values. However, such approaches are computationally intensive, and may not be guaranteed to return a result in bounded time when performing a non-convex optimization. This problem is an interesting application to cyber-physical systems due to their reliance on computation to carry out complex control. The computational burden can be addressed through model reduction, at a cost of potential (bounded) model error over the prediction horizon. In this paper we introduce a metric called uncontrollable divergence, and discuss how the selection of the model to use for the predictive controller can be addressed by evaluating this metric, which reveals the divergence between predicted and true states caused by return time and model mismatch. A map of uncontrollable divergence plotted over the state space gives the criterion to judge where reduced models can be tolerated when high update rate is preferred (e.g. at high speed and small steering angles), and where high-fidelity models are required to avoid obstacles or make tighter curves (e.g. at large steering angles). With this metric, we design a hybrid controller that switches at runtime between predictive controllers in which respective models are deployed.","PeriodicalId":344612,"journal":{"name":"Proceedings of the ACM/IEEE Sixth International Conference on Cyber-Physical Systems","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-04-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130815869","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}

引用次数: 15

Local open- and closed-loop manipulation of multi-agent networks 多智能体网络的局部开闭环操作

Proceedings of the ACM/IEEE Sixth International Conference on Cyber-Physical Systems Pub Date : 2015-04-14 DOI: 10.1145/2735960.2735982

Jackeline Abad Torres, D. Sahabandu, R. Dhal, Sandip Roy

引用次数: 6

Early detection of critical pulmonary shunts in infants 婴儿危重肺分流的早期发现

Proceedings of the ACM/IEEE Sixth International Conference on Cyber-Physical Systems Pub Date : 2015-04-14 DOI: 10.1145/2735960.2735962

Radoslav Ivanov, James Weimer, Allan F. Simpao, M. Rehman, Insup Lee

{"title":"Early detection of critical pulmonary shunts in infants","authors":"Radoslav Ivanov, James Weimer, Allan F. Simpao, M. Rehman, Insup Lee","doi":"10.1145/2735960.2735962","DOIUrl":"https://doi.org/10.1145/2735960.2735962","url":null,"abstract":"This paper aims to improve the design of modern Medical Cyber Physical Systems through the addition of supplemental noninvasive monitors. Specifically, we focus on monitoring the arterial blood oxygen content (CaO2), one of the most closely observed vital signs in operating rooms, currently measured by a proxy -- peripheral hemoglobin oxygen saturation (SpO2). While SpO2 is a good estimate of O2 content in the finger where it is measured, it is a delayed measure of its content in the arteries. In addition, it does not incorporate system dynamics and is a poor predictor of future CaO2 values. Therefore, as a first step towards supplementing the usage of SpO2, this work introduces a predictive monitor designed to provide early detection of critical drops in CaO2 caused by a pulmonary shunt in infants. To this end, we develop a formal model of the circulation of oxygen and carbon dioxide in the body, characterized by unknown patient-unique parameters. Employing the model, we design a matched subspace detector to provide a near constant false alarm rate invariant to these parameters and modeling uncertainties. Finally, we validate our approach on real-patient data from lung lobectomy surgeries performed at the Children's Hospital of Philadelphia. Given 198 infants, the detector predicted 81% of the critical drops in CaO2 at an average of about 65 seconds earlier than the SpO2-based monitor, while achieving a 0.9% false alarm rate (representing about 2 false alarms per hour).","PeriodicalId":344612,"journal":{"name":"Proceedings of the ACM/IEEE Sixth International Conference on Cyber-Physical Systems","volume":"118 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-04-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123216864","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}

引用次数: 23

Cloud-assisted sensing and supervision of multiple unmanned aerial vehicles by a single operator 由一名操作员对多架无人机进行云辅助传感和监督

Proceedings of the ACM/IEEE Sixth International Conference on Cyber-Physical Systems Pub Date : 2015-04-14 DOI: 10.1145/2735960.2735987

Takashi Shigekuni, T. Ushio, Takuya Azumi

引用次数: 2

Exploiting structured human interactions to enhance estimation accuracy in cyber-physical systems 利用结构化的人类交互来提高网络物理系统的估计精度

Proceedings of the ACM/IEEE Sixth International Conference on Cyber-Physical Systems Pub Date : 2015-04-14 DOI: 10.1145/2735960.2735965

Yunlong Gao, Shaohan Hu, R. Mancuso, Hongwei Wang, Minje Kim, Po-Liang Wu, Lu Su, L. Sha, T. Abdelzaher

{"title":"Exploiting structured human interactions to enhance estimation accuracy in cyber-physical systems","authors":"Yunlong Gao, Shaohan Hu, R. Mancuso, Hongwei Wang, Minje Kim, Po-Liang Wu, Lu Su, L. Sha, T. Abdelzaher","doi":"10.1145/2735960.2735965","DOIUrl":"https://doi.org/10.1145/2735960.2735965","url":null,"abstract":"In this paper, we describe a general methodology for enhancing measurement accuracy in cyber-physical systems that involve structured human interactions with a noisy physical environment. We define structured human interactions as those that follow a domain-specific workflow. The idea of the paper is simple: we exploit knowledge of the workflow to correct unreliable sensor data. The intellectual contribution lies in an algorithm for joint estimation of the current state of the workflow together with correction of noisy sensor measurements, given only the noisy measurements and an overall workflow description. We demonstrate through simulations and a physical implementation the degree to which knowledge of workflow can increase sensing accuracy. As a specific instantiation of this idea, we present a novel situation-awareness tool called the Emergency Transcriber designed to automatically document operational procedures followed by teams of first responders in emergency-response scenarios. Evaluation shows that our system provides a significant fidelity enhancement over the state of the art, effectively coping with the noisy environment of emergency teams.","PeriodicalId":344612,"journal":{"name":"Proceedings of the ACM/IEEE Sixth International Conference on Cyber-Physical Systems","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-04-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129985955","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}

引用次数: 1