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Attack-tolerant Control and Observer-based Trajectory Tracking for Cyber-Physical Systems Bezzaoucha, Souad ; Voos, Holger ; in European Journal of Control (2018) In the present paper, a model-based fault/attack tolerant scheme is proposed to cope with cyber-threats on Cyber-Physicals Systems. A common scheme based on observers is designed and a state feedback ... [more ▼] In the present paper, a model-based fault/attack tolerant scheme is proposed to cope with cyber-threats on Cyber-Physicals Systems. A common scheme based on observers is designed and a state feedback control based on an aperiodic event-triggered framework is given with control synthesis and condition on the switching time. Classical fault tolerant control with Bi-linear Matrix Inequality () approaches are used to achieve novel and better security strategy based on an event-triggered control implementation. The purpose of using the event-based implementation would be to reduce (limit) the total number of transmissions to only instances when the networked control system (NCS) needs attention. Simulation results on a real-time laboratory three tank system are given to show the attack-tolerant control ability despite data deception attacks on both actuators and sensors. A detection/isolation scheme based on residual observers bank is also proposed. [less ▲] Detailed reference viewed: 323 (10 UL)Attitude consensus using networks of uncalibrated cameras Thunberg, Johan ; in The proceedings of the 33rd Chinese Control Conference (2014) This paper addresses the problem of consensus on SO(3) for networks of uncalibrated cameras. Under the assumption of a pinhole camera model, we prove convergence to the consensus manifold for two types of ... [more ▼] This paper addresses the problem of consensus on SO(3) for networks of uncalibrated cameras. Under the assumption of a pinhole camera model, we prove convergence to the consensus manifold for two types of kinematic control laws, when only conjugate rotation matrices KRK-1 are available among the agents. In these conjugate rotations, the rotation matrices are distorted by the (unknown) intrinsic parameters of the cameras. For the conjugate rotations, we introduce distorted versions of well known local parameterizations of SO(3) and show consensus by using three types of control laws. The control laws are similar to the standard consensus protocol used for systems of agents with single integrator dynamics, where pairwise differences between the states of neighboring agents are used. By considering the restriction to the planar case (when all the rotations have the same rotational axes), we weaken the assumptions on the cameras in the system and consider networks where the camera matrices differ between agents. [less ▲] Detailed reference viewed: 101 (0 UL)Augmented Reality in Manual Assembly Processes Kolla, Sri Sudha Vijay Keshav ; Sanchez, Andre ; Minoufekr, Meysam et al in Kolla, Sri Sudha Vijay Keshav; Sanchez, Andre; Minoufekr, Meysam (Eds.) et al Augmented Reality in Manual Assembly Processes (2020, September 23) Augmented Reality (AR) is a novel technology that projects virtual information on the real world environment. With the increased use of Industry 4.0 technologies in manufacturing, AR has gained momentum ... [more ▼] Augmented Reality (AR) is a novel technology that projects virtual information on the real world environment. With the increased use of Industry 4.0 technologies in manufacturing, AR has gained momentum across various stages of product life cycle. AR can benefit production operators in many manufacturing tasks such as quality inspection, work instructions for manual assembly, maintenance, and in training. This research presents not only a typical architecture of an AR system but also both its software and hardware functions. The architecture is then applied to display virtual assembly instructions in the form of 3D animations on to the real world environment. The chosen assembly task in this research is to assemble a planetary gearbox system. The assembly instructions are displayed on a mobile device targeting a static tracker placed in the assembly environment. [less ▲] Detailed reference viewed: 178 (24 UL)Automated optimisation of stem cell-derived neuronal cell culture in three dimensional microfluidic device Kane, Khalid Doctoral thesis (2019) This dissertation is a compilation of publications and manuscripts that aim 1) to integrate an automated platform optimised for long term in vitro cell culture maintenance for Parkinson’s disease, long ... [more ▼] This dissertation is a compilation of publications and manuscripts that aim 1) to integrate an automated platform optimised for long term in vitro cell culture maintenance for Parkinson’s disease, long term live cell imaging and the handling of many cell lines, 2) to combine physics principles with imaging techniques to optimise the seeding of Matrigel embedded human neuroepithelial stem cells into a three-dimensional microfluidic device, and 3) to combine engineering principles with cell biology to optimise the design of a three-dimensional microfluidic system based on phaseguide technology. In the first publication manuscript, we investigated Matrigel as a surrogate extracellular matrix in three-dimensional cell culture systems, including microfluidic cell culture. The study aimed at understanding and characterising the properties of Matrigel. Using classical rheological measurements of Matrigel (viscosity versus shear rate) in combination with fluorescence microscopy and fluorescent beads for particle image velocimetry measurements (velocity profiles), the shear rates experienced by cells in a microfluidic device for three-dimensional cell culture was characterised. We discussed how the result of which helped to mechanically optimise the use of Matrigel in microfluidic systems to minimise the shear stress experienced by cells during seeding in a microchannel. The second manuscript proposes a methodology to passively control the flow of media in a three-dimensional microfluidic channel. We used the fluid dynamic concept of similitude to dynamically replicate cerebral blood flow in a rectangular cross-sectional microchannel. This similarity model of a target cell type and a simple fluid flow mathematical prediction model was used to iterate the most optimum dimensions within some manufacturing constraints to adapt the design of the OrganoPlate, a cell culture plate fully compatible with laboratory automation, which allowed its re-dimension to achieve over 24h of flow for the culture of human neuroepithelial stem cells into midbrain specific dopaminergic neurons. In the third publication manuscript, we propose an automated cell culture platform optimised for long-term maintenance and monitoring of different cells in three-dimensional microfluidic cell culture devices. The system uses Standard in Laboratory Automation or SiLA, an open source standardisation which allows rapid software integration of laboratory automation hardware. The automation platform can be flexibly adapted to various experimental protocols and features time-lapse imaging microscopy for quality control and electrophysiology monitoring to assess cellular activity. It was biologically validated by differentiating Parkinson’s disease patient derived human neuroepithelial stem cells into midbrain specific dopaminergic neurons. This system is the first example of an automated Organ-on-a-Chip culture and has the potential to enable a versatile array of in vitro experiments for patient-specific disease modelling. Finally, the fourth manuscript initiates the assessment of the neuronal activity of induced pluripotent stem cell derived neurons from Parkinson’s Disease patients with LRRK2-G2019S mutations and isogenic controls. A novel image analysis pipeline that combined semi-automated neuronal segmentation and quantification of calcium transient properties was developed and used to analyse neuronal firing activity. It was found that LRRK2-G2019S mutants have shortened inter-spike intervals and an increased rate of spontaneous calcium transient induction than control cell lines. [less ▲] Detailed reference viewed: 129 (8 UL)Automatisierter öffentlicher Verkehr in Grenzregionen Frank, Raphaël ; ; et al in Internationales Verkehrswesen (2023) Detailed reference viewed: 56 (1 UL)Außenliegende Wandtemperierung. Praktische Umsetzung anhand eines Demonstrationsgebäudes und Ermittlung der Systemkosten. Schmidt, Christoph Wilhelm ; Scholzen, Frank ; Maas, Stefan et al in Bauphysik (2018), 40(4), 187-202 Detailed reference viewed: 95 (3 UL)„Außenliegende Wandtemperierung“ – LowEx-Anwendung zur Temperierung von Bestandsgebäuden und thermischer Aktivierung der Bestandswand: Theoretische Grundlagen und Kennwerte Schmidt, Christoph Wilhelm ; Scholzen, Frank ; Maas, Stefan et al in Bauphysik (2017) Detailed reference viewed: 103 (4 UL)Availability-Based Dynamic Pricing on a Round-Trip Carsharing Service: an Experimental Design Using Agent-Based Simulation Giorgione, Giulio ; ; Viti, Francesco Scientific Conference (2020, January) Detailed reference viewed: 47 (6 UL)Availability-based dynamic pricing on a round-trip carsharing service: an explorative analysis using agent-based simulation Giorgione, Giulio ; ; Viti, Francesco in Transportation Research Procedia (2019) Carsharing companies aim to customize their service to increase fleet usage and revenues with different pricing schemes and offer types. Dynamic pricing policies can be designed to adjust and balance ... [more ▼] Carsharing companies aim to customize their service to increase fleet usage and revenues with different pricing schemes and offer types. Dynamic pricing policies can be designed to adjust and balance temporally and spatially cars availability but may pose some question on customers’ fairness. In this paper, we propose an explorative analysis of how an availability-based dynamic pricing scheme impacts the demand and the supply performance. The policy is simulated in MATSim and compared to a fixed pricing policy scheme. This simulation consists of analyzing the behavior of a synthetic population of car-sharing members for Berlin and the surrounding region in which is applied an availability-based dynamic pricing in which price depends on vehicle availability in booking stations. Results show that when the dynamic pricing is applied there is a light decrease in the number of bookings and people with low value of time tend to abandon the carsharing mode in favor of other modes of transportation. [less ▲] Detailed reference viewed: 126 (14 UL)AWJC Nozzle simulation by 6-way coupling of DEM+CFD+FEM using preCICE coupling library Adhav, Prasad ; Besseron, Xavier ; et al Scientific Conference (2021, June 16) The objective of this work is to study the particle-laden fluid-structure interaction within an Abrasive Water Jet Cutting Nozzle. Such coupling is needed to study the erosion phenomena caused by the ... [more ▼] The objective of this work is to study the particle-laden fluid-structure interaction within an Abrasive Water Jet Cutting Nozzle. Such coupling is needed to study the erosion phenomena caused by the abrasive particles inside the nozzle. So far, the erosion in the nozzle was predicted only through the number of collisions, using only a simple DEM+CFD[1] coupling. To improve these predictions, we extend our model to a 6-way Eulerian-Lagrangian momentum coupling with DEM+CFD+FEM to account for deformations and vibrations in the nozzle. Our prototype uses the preCICE coupling library[2] to couple 3 numerical solvers: XDEM[3] (for the particle motion), OpenFOAM[4] (for the water jet), and CalculiX[5] (for the nozzle deformation). XDEM handles all the particle motions based on the fluid properties and flow conditions, and it calculates drag terms. In the fluid solver, particles are modeled as drag and are injected in the momentum equation as a source term. CalculiX uses the forces coming from the fluid solver and XDEM as boundary conditions to solve for the displacements. It is also used for computing the vibrations induced by particle impacts. . The preliminary 6-way DEM+CFD+FEM coupled simulation is able to capture the complex particle-laden multiphase fluid-structure interaction inside AWJC Nozzle. The erosion concentration zones are identified and are compared to DEM+CFD coupling[1]. The results obtained are planned to be used for predicting erosion intensity in addition to the concentration zones. In the future, we aim to compare the erosions predictions to experimental data in order to evaluate the suitability of our approach. The FEM module of the coupled simulation captures the vibration frequency induced by particles and compares it with the natural frequency of the nozzle. Thus opening up opportunities for further investigation and improvement of the Nozzle design. [less ▲] Detailed reference viewed: 194 (22 UL)B-Spline FEM for Time-Harmonic Acoustic Scattering and Propagation ; ; Bordas, Stéphane in Journal of Theoretical and Computational Acoustics (2019), 27 We study the application of a B-splines Finite Element Method (FEM) to time-harmonic scattering acoustic problems. The infinite space is truncated by a fictitious boundary and second-order Absorbing ... [more ▼] We study the application of a B-splines Finite Element Method (FEM) to time-harmonic scattering acoustic problems. The infinite space is truncated by a fictitious boundary and second-order Absorbing Boundary Conditions (ABCs) are applied. The truncation error is included in the exact solution so that the reported error is an indicator of the performance of the numerical method, in particular of the size of the pollution error. Numerical results performed with high-order basis functions (third or fourth order) showed no visible pollution error even for very high frequencies. To prove the ability of the method to increase its accuracy in the high frequency regime, we show how to implement a high-order Padé-type ABC on the fictitious outer boundary. The above-mentioned properties combined with exact geometrical representation make B-Spline FEM a very promising platform to solve high-frequency acoustic problems. [less ▲] Detailed reference viewed: 78 (1 UL)Balancing Shareability and Positive Interdependence to Support Collaborative Problem-Solving on Interactive Tabletops ; ; Arend, Béatrice et al in Advances in Human-Computer Interaction (2021) To support collaboration, researchers from different fields have proposed the design principles of shareability (engaging users in shared interactions around the same content) and positive interdependence ... [more ▼] To support collaboration, researchers from different fields have proposed the design principles of shareability (engaging users in shared interactions around the same content) and positive interdependence (distributing roles and information to make users dependent on each other). While, on its own, each principle was shown to successfully support collaboration in different contexts, these principles are also partially conflicting, and their combination creates several design challenges. This paper describes how shareability and positive interdependency were jointly implemented in an interactive tabletop-mediated environment called Orbitia, with the aim of inducing collaboration between three adult participants. We present the design details and rationale behind the proposed application. Furthermore, we describe the results of an empirical evaluation focusing on joint problem-solving efficiency, collaboration styles, participation equity, and perceived collaboration effectiveness. [less ▲] Detailed reference viewed: 77 (10 UL)Batch control of the master equation: a linear programming approach Goncalves, Jorge ; Scientific Conference (2008) Detailed reference viewed: 66 (0 UL)A Bayesian approach to activity-specific demand estimation Scheffer, Ariane Hélène Marie ; Connors, Richard ; Viti, Francesco Scientific Conference (2021, May) Detailed reference viewed: 25 (5 UL)A Bayesian framework to identify random parameter fields based on the copula theorem and Gaussian fields: Application to polycrystalline materials Rappel, Hussein ; ; et al in Journal of Applied Mechanics (in press) For many models of solids, we frequently assume that the material parameters do not vary in space, nor that they vary from one product realization to another. If the length scale of the application ... [more ▼] For many models of solids, we frequently assume that the material parameters do not vary in space, nor that they vary from one product realization to another. If the length scale of the application approaches the length scale of the micro-structure however, spatially fluctuating parameter fi elds (which vary from one realization of the fi eld to another) can be incorporated to make the model capture the stochasticity of the underlying micro-structure. Randomly fluctuating parameter fields are often described as Gaussian fields. Gaussian fi elds however assume that the probability density function of a material parameter at a given location is a univariate Gaussian distribution. This entails for instance that negative parameter values can be realized, whereas most material parameters have physical bounds (e.g. the Young's modulus cannot be negative). In this contribution, randomly fluctuating parameter fi elds are therefore described using the copula theorem and Gaussian fi elds, which allow di fferent types of univariate marginal distributions to be incorporated, but with the same correlation structure as Gaussian fields. It is convenient to keep the Gaussian correlation structure, as it allows us to draw samples from Gaussian fi elds and transform them into the new random fields. The bene fit of this approach is that any type of univariate marginal distribution can be incorporated. If the selected univariate marginal distribution has bounds, unphysical material parameter values will never be realized. We then use Bayesian inference to identify the distribution parameters (which govern the random fi eld). Bayesian inference regards the parameters that are to be identi fied as random variables and requires a user-defi ned prior distribution of the parameters to which the observations are inferred. For the homogenized Young's modulus of a columnar polycrystalline material of interest in this study, the results show that with a relatively wide prior (i.e. a prior distribution without strong assumptions), a single specimen is su ciffient to accurately recover the distribution parameter values. [less ▲] Detailed reference viewed: 162 (10 UL)Bayesian inference for the stochastic identification of elastoplastic material parameters: Introduction, misconceptions and insights Rappel, Hussein ; Beex, Lars ; Hale, Jack et al E-print/Working paper (n.d.) We discuss Bayesian inference (BI) for the probabilistic identification of material parameters. This contribution aims to shed light on the use of BI for the identification of elastoplastic material ... [more ▼] We discuss Bayesian inference (BI) for the probabilistic identification of material parameters. This contribution aims to shed light on the use of BI for the identification of elastoplastic material parameters. For this purpose a single spring is considered, for which the stress-strain curves are artificially created. Besides offering a didactic introduction to BI, this paper proposes an approach to incorporate statistical errors both in the measured stresses, and in the measured strains. It is assumed that the uncertainty is only due to measurement errors and the material is homogeneous. Furthermore, a number of possible misconceptions on BI are highlighted based on the purely elastic case. [less ▲] Detailed reference viewed: 378 (106 UL)Bayesian inference to identify parameters in viscoelasticity Rappel, Hussein ; Beex, Lars ; Bordas, Stéphane in Mechanics of Time-Dependent Materials (2017) This contribution discusses Bayesian inference (BI) as an approach to identify parameters in viscoelasticity. The aims are: (i) to show that the prior has a substantial influence for viscoelasticity, (ii ... [more ▼] This contribution discusses Bayesian inference (BI) as an approach to identify parameters in viscoelasticity. The aims are: (i) to show that the prior has a substantial influence for viscoelasticity, (ii) to show that this influence decreases for an increasing number of measurements and (iii) to show how different types of experiments influence the identified parameters and their uncertainties. The standard linear solid model is the material description of interest and a relaxation test, a constant strain-rate test and a creep test are the tensile experiments focused on. The experimental data are artificially created, allowing us to make a one-to-one comparison between the input parameters and the identified parameter values. Besides dealing with the aforementioned issues, we believe that this contribution forms a comprehensible start for those interested in applying BI in viscoelasticity. [less ▲] Detailed reference viewed: 547 (177 UL)A Bayesian inversion approach to recovering material parameters in hyperelastic solids using dolfin-adjoint Hale, Jack ; ; Bordas, Stéphane Presentation (2015, July 01) In the first part of the talk I will describe in general terms the link between classical optimisation techniques and the Bayesian approach to statistical inversion as outlined in the seminal book of ... [more ▼] In the first part of the talk I will describe in general terms the link between classical optimisation techniques and the Bayesian approach to statistical inversion as outlined in the seminal book of [Kaipio and Somersalo, 2005]. Under the assumption of an additive Gaussian noise model, a Gaussian prior distribution and a linear parameter-to-observable map, it is possible to uniquely characterise the Bayesian posterior as Gaussian with the maximum aposteriori (MAP) point equal to the minimum of a classic regularised minimisation problem and covariance matrix equal to the inverse of the Hessian of the functional evaluated at the MAP point. I will also discuss techniques that can be used when these assumptions break down. In the second part of the talk I will describe a method implemented within dolfin-adjoint [Funke and Farrell, arXiv 2013] to quantify the uncertainty in the recovered material parameters of a hyperelastic solid from partial and noisy observations of the displacement field in the domain. The finite element discretisation of the adjoint and higher-order adjoint (Hessian) equations are derived automatically from the high-level UFL representation of the problem. The resulting equations are solved using PETSc. I will concentrate on finding the eigenvalue decomposition of the posterior covariance matrix (Hessian). The eigenvectors associated with the lowest eigenvalues of the Hessian correspond with the directions in parameter space least constrained by the observations [Flath et al. 2011]. This eigenvalue problem is tricky to solve efficiently because the Hessian is very large (on the order of the number of parameters) and dense (meaning that only its action on a vector can be calculated, each involving considerable expense). Finally, I will show some illustrative examples including the uncertainty associated with deriving the material properties of a 3D hyperelastic block with a stiff inclusion with knowledge only of the displacements on the boundary of the domain. J. Kaipio and E. Somersalo, Statistical and Computational Inverse Problems, vol. 160. New York: Springer-Verlag, 2005. S. W. Funke and P. E. Farrell, “A framework for automated PDE-constrained optimisation,” arXiv:1302.3894 [cs], Feb. 2013. H. P. Flath, L. C. Wilcox, V. Akçelik, J. Hill, B. van Bloemen Waanders, and O. Ghattas, “Fast Algorithms for Bayesian Uncertainty Quantification in Large-Scale Linear Inverse Problems Based on Low-Rank Partial Hessian Approximations,” SIAM J. Sci. Comput., vol. 33, no. 1, pp. 407–432, Feb. 2011. [less ▲] Detailed reference viewed: 809 (25 UL)Bayesian statistical inference on the material parameters of a hyperelastic body Hale, Jack ; ; Bordas, Stéphane in Proceedings of the ACME-UK 2016 24th Conference on Computational Mechanics (2016, March 31) We present a statistical method for recovering the material parameters of a heterogeneous hyperelastic body. Under the Bayesian methodology for statistical inverse problems, the posterior distribution ... [more ▼] We present a statistical method for recovering the material parameters of a heterogeneous hyperelastic body. Under the Bayesian methodology for statistical inverse problems, the posterior distribution encodes the probability of the material parameters given the available displacement observations and can be calculated by combining prior knowledge with a finite element model of the likelihood. In this study we concentrate on a case study where the observations of the body are limited to the displacements on the surface of the domain. In this type of problem the Bayesian framework (in comparison with a classical PDE-constrained optimisation framework) can give not only a point estimate of the parameters but also quantify uncertainty on the parameter space induced by the limited observations and noisy measuring devices. There are significant computational and mathematical challenges when solving a Bayesian inference problem in the case that the parameter is a field (i.e. exists infinite-dimensional Banach space) and evaluating the likelihood involves the solution of a large-scale system of non-linear PDEs. To overcome these problems we use dolfin-adjoint to automatically derive adjoint and higher-order adjoint systems for efficient evaluation of gradients and Hessians, develop scalable maximum aposteriori estimates, and use efficient low-rank update methods to approximate posterior covariance matrices. [less ▲] Detailed reference viewed: 274 (20 UL)Bearing capacity of steel fiber reinforced concrete flat slabs Michels, Julien Doctoral thesis (2009) Detailed reference viewed: 244 (11 UL) |
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