Proceedings of the 18th International Conference on Hybrid Systems: Computation and Control最新文献

Requirements for hybrid cosimulation standards 混合协同仿真标准要求

Proceedings of the 18th International Conference on Hybrid Systems: Computation and Control Pub Date : 2015-04-14 DOI: 10.1145/2728606.2728629

David Broman, L. Greenberg, Edward A. Lee, M. Masin, S. Tripakis, M. Wetter

{"title":"Requirements for hybrid cosimulation standards","authors":"David Broman, L. Greenberg, Edward A. Lee, M. Masin, S. Tripakis, M. Wetter","doi":"10.1145/2728606.2728629","DOIUrl":"https://doi.org/10.1145/2728606.2728629","url":null,"abstract":"This paper defines a suite of requirements for future hybrid cosimulation standards, and specifically provides guidance for development of a hybrid cosimulation version of the Functional Mockup Interface (FMI). A cosimulation standard defines interfaces that enable diverse simulation tools to interoperate. Specifically, one tool defines a component that forms part of a simulation model in another tool. We focus on components with inputs and outputs that are functions of time, and specifically on mixtures of discrete events and continuous time signals. This hybrid mixture is not well supported by existing cosimulation standards, and specifically not by FMI 2.0, for reasons that are explained in this paper. The paper defines a suite of test components, giving a mathematical model of an ideal behavior, plus a discussion of practical implementation considerations. The discussion includes acceptance criteria by which we can determine whether a standard supports definition of each component. In addition, we define a set of test compositions that define requirements for coordination between components, including consistent handling of timed events.","PeriodicalId":377654,"journal":{"name":"Proceedings of the 18th International Conference on Hybrid Systems: Computation and Control","volume":"17 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":"115705029","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: 59

Model-based design of time-triggered real-time embedded systems for digital manufacturing 面向数字化制造的时间触发实时嵌入式系统的模型设计

Proceedings of the 18th International Conference on Hybrid Systems: Computation and Control Pub Date : 2015-04-14 DOI: 10.1145/2728606.2728651

Jiang Wan, A. Canedo, M. A. Faruque

引用次数: 2

Real-time control under clock offsets between sensors and controllers 在传感器和控制器之间的时钟偏移下进行实时控制

Proceedings of the 18th International Conference on Hybrid Systems: Computation and Control Pub Date : 2015-04-14 DOI: 10.1145/2728606.2728613

Kunihisa Okano, M. Wakaiki, J. Hespanha

引用次数: 6

First steps toward formal controller synthesis for bipedal robots 两足机器人正式控制器合成的第一步

Proceedings of the 18th International Conference on Hybrid Systems: Computation and Control Pub Date : 2015-04-14 DOI: 10.1145/2728606.2728611

A. Ames, P. Tabuada, B. Schürmann, Wen-Loong Ma, Shishir N. Y. Kolathaya, M. Rungger, J. Grizzle

{"title":"First steps toward formal controller synthesis for bipedal robots","authors":"A. Ames, P. Tabuada, B. Schürmann, Wen-Loong Ma, Shishir N. Y. Kolathaya, M. Rungger, J. Grizzle","doi":"10.1145/2728606.2728611","DOIUrl":"https://doi.org/10.1145/2728606.2728611","url":null,"abstract":"Bipedal robots are prime examples of complex cyber-physical systems (CPS). They exhibit many of the features that make the design and verification of CPS so difficult: hybrid dynamics, large continuous dynamics in each mode (e.g., 10 or more state variables), and nontrivial specifications involving nonlinear constraints on the state variables. In this paper, we propose a two-step approach to formally synthesize control software for bipedal robots so as to enforce specifications by design and thereby generate physically realizable stable walking. In the first step, we design outputs and classical controllers driving these outputs to zero. The resulting controlled system evolves on a lower dimensional manifold and is described by the hybrid zero dynamics governing the remaining degrees of freedom. In the second step, we construct an abstraction of the hybrid zero dynamics that is used to synthesize a controller enforcing the desired specifications to be satisfied on the full order model. Our two step approach is a systematic way to mitigate the curse of dimensionality that hampers the applicability of formal synthesis techniques to complex CPS. Our results are illustrated with simulations showing how the synthesized controller enforces all the desired specifications and offers improved performance with respect to a controller that was utilized to obtain walking experimentally on the bipedal robot AMBER 2.","PeriodicalId":377654,"journal":{"name":"Proceedings of the 18th International Conference on Hybrid Systems: Computation and Control","volume":"40 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":"116198296","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: 16

A viability approach for fast recursive feasible finite horizon path planning of autonomous RC cars 自动驾驶RC汽车快速递归可行有限地平线路径规划的可行性方法

Proceedings of the 18th International Conference on Hybrid Systems: Computation and Control Pub Date : 2015-04-14 DOI: 10.1145/2728606.2728620

Alexander Liniger, J. Lygeros

引用次数: 16

Efficient finite abstraction of mixed monotone systems 混合单调系统的有效有限抽象

Proceedings of the 18th International Conference on Hybrid Systems: Computation and Control Pub Date : 2015-04-14 DOI: 10.1145/2728606.2728607

S. Coogan, M. Arcak

引用次数: 115

A delta-sampling verification theorem for discrete-time, possibly discontinuous systems 离散时间，可能是不连续系统的一个delta抽样验证定理

Proceedings of the 18th International Conference on Hybrid Systems: Computation and Control Pub Date : 2015-04-14 DOI: 10.1145/2728606.2728631

Ruxandra Bobiti, M. Lazar

{"title":"A delta-sampling verification theorem for discrete-time, possibly discontinuous systems","authors":"Ruxandra Bobiti, M. Lazar","doi":"10.1145/2728606.2728631","DOIUrl":"https://doi.org/10.1145/2728606.2728631","url":null,"abstract":"This paper considers the problem of safety verification for discrete-time, possibly discontinuous dynamical systems. Typical solutions rely on finding invariant sets or Lyapunov functions and require solving optimization problems, which suffer from scalability and numerical solvers issues. Recently, a δ-sampling method for verifying invariance for Lipschitz continuous dynamics was proposed, which does not make use of optimization. In this work we present a δ-sampling verification theorem that extends the previous result to general discrete-time, possibly discontinuous dynamics. This opens up the application of δ-sampling verification to hybrid systems. Moreover, this paper proposes verification of stability on a set by jointly verifying (finite-step) Lyapunov type functions on an annulus with a (finite-step) Lyapunov function on the inner hole. We further indicate that δ-sampling can also be used to verify Lyapunov conditions on the annulus. Lastly, we employ finite-step invariant sets and finite-step Lyapunov functions, respectively, together with δ-sampling to achieve more practical safety verification methods.","PeriodicalId":377654,"journal":{"name":"Proceedings of the 18th International Conference on Hybrid Systems: Computation and Control","volume":"9 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":"133857031","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: 14

Dynamic scheduling for networked control systems 网络控制系统的动态调度

Proceedings of the 18th International Conference on Hybrid Systems: Computation and Control Pub Date : 2015-04-14 DOI: 10.1145/2728606.2728636

I. Saha, Sanjoy Baruah, R. Majumdar

{"title":"Dynamic scheduling for networked control systems","authors":"I. Saha, Sanjoy Baruah, R. Majumdar","doi":"10.1145/2728606.2728636","DOIUrl":"https://doi.org/10.1145/2728606.2728636","url":null,"abstract":"An integrated approach, embracing both control and scheduling theories, is proposed to implement multiple control loops upon shared network and computational resources, where the network may additionally introduce packet losses. Each control system is first analyzed from a control-theoretic perspective in order to determine the asymptotic rate at which control signals must be computed to maintain stability and optimal performance despite network losses. Since required completion rates for control tasks are asymptotic, and network packet drops uncertain, the problem of scheduling multiple such control tasks upon shared computational resources does not map to known problems in real-time scheduling. It is therefore formalized here as a new form of periodic task scheduling problem -- one in which each task has an associated asymptotic completion rate requirement. Sufficient schedulability conditions are derived, and a dynamic scheduling algorithm designed, for solving such scheduling problems. This integrated methodology thus provides an effective way to incorporate network loss in the design of cyber-physical systems over integrated architectures. The use of this methodology is illustrated, and its efficacy demonstrated, upon an example system of five inverted pendulums.","PeriodicalId":377654,"journal":{"name":"Proceedings of the 18th International Conference on Hybrid Systems: Computation and Control","volume":"66 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":"127483910","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

Towards online reachability analysis with temporal-differencing 基于时间差的在线可达性分析

Proceedings of the 18th International Conference on Hybrid Systems: Computation and Control Pub Date : 2015-04-14 DOI: 10.1145/2728606.2728642

Anayo K. Akametalu, C. Tomlin

引用次数: 0

Cross-entropy temporal logic motion planning 交叉熵时间逻辑运动规划

Proceedings of the 18th International Conference on Hybrid Systems: Computation and Control Pub Date : 2015-04-14 DOI: 10.1145/2728606.2728635

S. Livingston, Eric M. Wolff, R. Murray

{"title":"Cross-entropy temporal logic motion planning","authors":"S. Livingston, Eric M. Wolff, R. Murray","doi":"10.1145/2728606.2728635","DOIUrl":"https://doi.org/10.1145/2728606.2728635","url":null,"abstract":"This paper presents a method for optimal trajectory generation for discrete-time nonlinear systems with linear temporal logic (LTL) task specifications. Our approach is based on recent advances in stochastic optimization algorithms for optimal trajectory generation. These methods rely on estimation of the rare event of sampling optimal trajectories, which is achieved by incrementally improving a sampling distribution so as to minimize the cross-entropy. A key component of these stochastic optimization algorithms is determining whether or not a trajectory is collision-free. We generalize this collision checking to efficiently verify whether or not a trajectory satisfies a LTL formula. Interestingly, this verification can be done in time polynomial in the length of the LTL formula and the trajectory. We also propose a method for efficiently re-using parts of trajectories that only partially satisfy the specification, instead of simply discarding the entire sample. Our approach is demonstrated through numerical experiments involving Dubins car and a generic point-mass model subject to complex temporal logic task specifications.","PeriodicalId":377654,"journal":{"name":"Proceedings of the 18th International Conference on Hybrid Systems: Computation and Control","volume":"31 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":"133553177","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: 20