Keywords: Internet Security
Abstract: Main aspects of intelligent situation awareness in the area of cyber security are considered. The talk concerns different aspects of cyber situation awareness, including situation perception, impact assessment, situation tracking, projecting future possible actions, understanding of adversary and countermeasures selection. Models, techniques and tools for advanced intelligent cyber situation awareness are analyzed. They are based on big data analytics, artificial intelligence, machine learning, user and application behavior analytics and interactive visualization. Examples of research applications and developed intelligent components for intrusion detection, security monitoring and incident management are demonstrated.

Keywords: Artificial Intelligence
Abstract: Enormous rapid development of Information Communication Technologies (ICT)essentially and immensely changed human society and everyday life. Life in modern, highly developed societies almost has been completely changed especially in last decade influenced by technological and scientific innovations. On the other hand, recently, there is a growing need to support and supply continuous healthcare monitoring and to offer numerous reliable services that make life easier for different kinds of patients. Throughout everyday routine patient’s activities can be observed using mobile, smart, wearable devices. Collected different types of complex data must be aggregated, processed, analyzed in order to support proper decision making to increase patient’s wellbeing. Techniques and methods of artificial intelligence (AI), data mining (DM), and machine learning (ML) offer the opportunity to analyze big data, consume them, and derive new knowledge and values. Such new health insights in the human’s/patient’s states can help in making adequate predictions and propose interventions to help them in increasing quality of life issues. This talk will give an overview, opportunities and challenges of current state and characteristic application of AI and ML in medical domains with particular attention to personalized services.

Keywords: Control Systems Design, Linear Systems
Abstract: This paper is devoted to the development of an optimal infinite-dimensional Luenberger observer for a system of hyperbolic PDEs. For this purpose, the duality fact linking the control design and the observer design is used. Both the original linear-quadratic and dual control problems have been solved by using the associated Riccati equations. A general algorithm that combines the designed observer together with the (estimated) state-feedback controller has been developed. The theoretical development has been applied to the process of fixed-bed reactor to validate the performances of the designed observer-controller via numerical simulation. Estimation and control of the fixed-bed reactor state is investigated by using the developed algorithm.

Keywords: Hybrid Systems, System Identification and Modeling, Nonlinear Systems
Abstract: Hysteresis-controlled devices are widely used in industrial applications. For example, cooling devices usually contain a two-point controller, resulting in a nonlinear hybrid system with two discrete states. Dynamic models of systems are essential for optimizing such industrial supply technology. However, conventional system identification approaches can hardly handle hysteresis-controlled devices. Thus, the new identification method Sparse Identification of Nonlinear Dynamics (SINDy) is extended to consider hybrid systems. SINDy composes models from basis functions out of a customized library in a data-driven manner. For modeling systems that behave dependent on their own past as in the case of natural hysteresis, Ferenc Preisach introduced the relay hysteron as an elementary mathematical description. In this new method (SINDyHybrid), tailored basis functions in form of relay hysterons are added to the library which is used by SINDy. Experiments with a hysteresis controlled water basin show that this approach correctly identifies state transitions of hybrid systems and also succeeds in modeling the dynamics of the discrete system states. A novel proximity hysteron achieves the robustness of this method. The impacts of the sampling rate and the signal noise ratio of the measurement data are examined accordingly.

Keywords: System Identification and Modeling, Optimization, Predictive Control
Abstract: This work demonstrates a modified control method of microgrid with LiFePO4 (LFP) battery using the economic model predictive control (EMPC). It shows how to calculate battery depreciation rates for calendar and cycling aging. Then EMPC for the microgrid is formulated with respect to the aging of the LFP battery. Finally, the simulation results are provided. From the results, it is seen that the developed method significantly decreases the costs of such systems by extending the lifetime of the LFP battery.

Keywords: System Identification and Modeling, Robotics, Linear Systems
Abstract: The application of the finite-frequency identification method to a particular problem of linearized model identification of the quadcopter translation dynamics is considered in the paper. The transfer function of the horizontal translation dynamics is derived from three-dimensional differential equations of the translation velocity. Taking into account the aerodynamic drag leads to the transfer function, parameters of which depend on velocity. Experimental identification of the quadcopter flight dynamics is carried out.

Keywords: System Identification and Modeling, Nonlinear Systems, Robotics
Abstract: This paper intends to understand the system behavior of the fiber-reinforced elastomer composite embedded with shape memory alloy (SMA) wires by developing a theoretic model of the system. Two separate models, one to understand the dynamics of the SMA wire actuator and the other to describe the bending dynamics of the composite are derived. The models are then integrated to analyze the complete system behavior. Numerical simulations of the mathematical model are conducted in MATLAB/Simulink and the results of the simulations are experimentally validated. The obtained model can be used for designing control algorithms to control the shape, deflection and torsion of the system.

Keywords: Fault Diagnosis and Fault Tolerant Control, Optimization, System Identification and Modeling
Abstract: The paper deals with a degradation model applied to obtain the state probabilities and the reliability functions of an industrial equipment. They are necessary for determining the optimal renewal time, in the maintenance strategy. A more adequate degradation model is proposed, which considers the random character of the wear rate and accidental failure rate, in order to comply with the usual maintenance conditions. This model is integrated in a previously developed procedure of computing the state probabilities of a Markov model, the reliability functions and the optimal renewal time. The presented model and the implied procedure can be extended to different kind of industrial equipment that are subject to maintenance activities. The case study used for validation assumes a valve in a sugar factory (the DAMADICS benchmark). The results were obtained through numerical simulation, using the mentioned benchmark.

Keywords: Control Systems Design, Nonlinear Systems, Robotics
Abstract: Backward motion of articulated vehicles is a challenging task even for experienced drivers, since these systems are highly nonlinear and their movement is unstable. In this paper a review of the nonlinear path tracking control law based on exact linearization of a parameterized articulated vehicle composed of a car-like truck and N passive trailers is presented. Limitations of this path tracking procedure are discussed, particularly the automation of real world heavy goods articulated vehicles.

Keywords: Robotics, Control Systems Design, Nonlinear Systems
Abstract: The process of simultaneously mapping the environment in three dimensional (3D) space and localizing a moving vehicle's pose (orientation and position) is termed Simultaneous Localization and Mapping (SLAM). SLAM is a core task in robotics applications. In the SLAM problem, each of the vehicle's pose and the environment are assumed to be completely unknown. This paper takes the conventional SLAM design as a basis and proposes a novel approach that ensures fast adaptation of the nonlinear observer for SLAM. Due to the fact that the true SLAM problem is nonlinear and is modeled on the Lie group of mathbb{SLAM}_{n}left(3right), the proposed observer for SLAM is nonlinear and modeled on mathbb{SLAM}_{n}left(3right). The proposed observer compensates for unknown bias attached to velocity measurements. The results of the simulation illustrate the robustness of the proposed approach.

Keywords: Control Systems Design, Nonlinear Systems, Robotics
Abstract: In this paper, the problem of controlling the trajectory motion of a quadrotor with a suspended load is considered. Using the Lagrange equations of the second kind, the equations of motion of the quadrotor-load system in three-dimensional space are obtained. The authors propose a control algorithm based on stable differential equations describing transients according to the mismatch of current and target coordinates. The effectiveness of the algorithm is confirmed by the results of numerical modeling.

Keywords: Nonlinear Systems, Optimization, Robotics
Abstract: This work addresses the problem of chaotic path planning, using a memory technique to improve performance. In this application, the dynamics of a chaotic system are utilized to generate a series of navigation commands using a simple rule. These commands are then used by an autonomous robot to explore an area. This navigation strategy can bring overall area coverage, but with numerous revisits to the same cells. Here, a memory technique is applied to limit the chaotic motion to cells with the least number of visits, leading to overall improvement in performance. Numerical simulations are performed to evaluate the path planning strategy.

Keywords: Robotics, Robust Control, Hybrid Systems
Abstract: This paper presents a method for constructing a singularity-free attitude control system, based on the Euler angles for an unmanned underwater vehicle (UUV), operated at large angles of inclination. This method consists in constructing a hybrid control system with switching between control systems using 3-2-1 (yaw, pitch, roll) and 3-2-3 Euler angle sets. The resulting control system is insensitive to problems of singularity and non-uniqueness of Euler angles, and also maintains high quality at any angles of inclination. Additionally, an experiment was carried out which showed that in some cases the approach based on Euler angles has an advantage over the approach based on quaternions. The performance of the control system at large pitch angles was tested on the nonlinear model of UUV “Aqua-MO” and has a better quality compared to the approach based on quaternions. The increase in the number of tasks requiring the operation of the UVV at large angles of inclination motivated the research agenda. The development of highly maneuverable UUVs, require singularity-free attitude control systems that maintain the required quality at any inclinations of UUVs. However, traditional control systems use Euler angles and are inoperative at pitch angles of ±90°, which prevents their use in new UUVs. The results obtained in the paper can be used in the design of control systems for new highly maneuverable UUVs, and also contribute to the expansion of the working angles of traditional control systems and the use of accumulated experience to solve new problems.

Keywords: Robotics, Optimization, Discrete Event Systems
Abstract: A relevant problem in unmanned aerial vehicles flight is planning paths in 3D environments. The problem can be solved using different behaviour constraints and performance criteria. The goal of this work is to design a collision-free path that allows an unmanned aerial vehicle to fly from a starting pose to a destination one in an 3D environment with dynamic obstacles. A very important phase in completing the proposed goal is environment modelling. Based on an original contribution made by the authors, the free space in the environment is modeled by using a cuboid representation. Accounting information about the velocity magnitude and direction of the moving objects, a novel 3D cell decomposition planning algorithm is proposed. Testing and evaluation through numerical simulation show the modification in path design when comparing static parts of the environment with dynamic obstacle events.

Keywords: Internet of Things
Abstract: Due to the ageing of European populations, a growing number of older adults are exposed to risks of losing their autonomy and independence. Technological innovations can support older adults to live independently in their communities and improve their autonomy and overall quality of life. Ambient Assisted Living Technologies embedded in Smart Home have the potential to enable older adults to live safer and, therefore, longer in their communities and postpone or even prevent the relocation to a nursing home. Smart homes with embedded wireless sensors networks, connected to cyber-physical systems through smart devices using internet of things as the infrastructure supporting real-time monitoring and control of activities of residents which is facilitated by big data and machine learning can support older adults to live autonomously and independently in their communities and mitigate the risks leading to ill health and disability. Literature review found some gaps why there is not sufficient uptake of assistive technologies by older residents. Digital transformation of health and social infrastructure on a neighbourhood level is required that will enable connection of smart homes to community health care and social care services to provide timely services to the residents of smart homes and, therefore, mitigate the risks of events leading to ill health and disability.

Keywords: Internet Security, Distributed Systems, Web Services
Abstract: The electronic identities for natural persons become increasingly important to build services both at national level or in cross-border scenarios. To efficiently and securely handle them, several European Union (EU) Member State countries have developed various electronic identity systems. The eIDAS Network (implementing the European eIDAS Regulation 910/2014) connects such systems in a unified Pan-European infrastructure to allow citizens' access to cross-border services within EU with their national authentication credentials. While the eIDAS Network as well as the main actors involved (eIDAS-Nodes, Identity and Service Providers) are known, its integration with entities providing other citizen attributes to the eIDAS Network is still an open issue.

We propose ATEMA, an attribute enablement module, which combines citizen authentication via eIDAS Network with the retrieval of additional citizen data from national Attribute Providers. ATEMA implements two different solutions exploiting different technologies and standards to support the user consent management and the authorization of the released data, like the OAuth 2.0 protocol. With a prototype implementation, we detail the two solutions and their integration with the Italian eIDASNode and with an Attribute Provider at Politecnico di Torino (Italy) providing academic attributes.

Keywords: Internet of Things, Computer Architectures, Industrial Applications
Abstract: Recent developments in software, hardware, and communication technologies resulted in a sudden increase of things connected to the Internet. Not only did the number of devices connected to the Internet increase exponentially, so did their kind - devices previously unthought-of are now participants of the Internet of Things/Everything ecosystem. Subsequently, the reusability of existing IoT solutions or solution components is crucial to face the high demand for new types of things to be connected to the network. A well-defined, architectural approach that implements reusability is crucial. In this paper, IoT Systems are viewed as a whole and abstracted to an immense spread-out device that is sensing everything and acting to everything in the environment. Consequently, a concept which views the Internet of Things as an Internet of Sensor-Actuator is proposed. This concept assumes that interaction with the environment is provided by well-defined Sensor-Actuator pattern components that provide services to the applications. By combining practices from the automotive layered architecture approaches, as well as the Sensor-Actuator Pattern defined for the system scaling and reuse purposes, the similarity of the signal conditioning for acquiring and acting is pointed out. Furthermore, the diagnosis and protection procedures are discussed for both sensors and actuators, and their auxiliary functions are considered. The proposed architecture is analyzed on an industrial robotic arm application.

Keywords: Databases and Data Mining, Other Topics
Abstract: Towards the purpose of sustainability, academic conferences need to look at the factors that attract participants and increase the conference's visibility in the academic world, as well as to assess how well they are doing through various indicators.

Information regarding the conference publications is now made available through various online platforms and digital libraries. This provides an opportunity for data analysis with the purpose of determining the measures for how well a conference is doing. It however poses unique challenges regarding data integrating and accessibility with regard to automated analysis.

In this paper we look at some of the factors and metrics that are of interest to conferences, and, based on that, we propose a support system that would enable analyses to be conducted with data from multiple web sources.

Keywords: Internet Security
Abstract: Monitoring software environments for the purpose of threat detection implies using proper tools that capture the various relevant attributes of the system. This paper describes the tool and approach we developed for this purpose, aimed at capturing both general and detailed system parameters, with a specific focus on detecting malware that mines virtual currencies.

Keywords: Robotics, Internet of Things, Computer Vision
Abstract: This paper presents a rule-based method to solve a collision issue for a manipulator robot. The proposed approach applies a set of rules on the information received from a visual system to find the dependency between parts. It uses the notion of intersection of segments and graph dependency to find which object is safe for gripping and in which order. The communication among robot, visual system, and the developed module is obtained through an IoT system extension. The applicability of the proposed method is validated by the means of a real manufacturing system.

Keywords: Optimization, Artificial Intelligence, Nonlinear Systems
Abstract: The paper deals with a fuzzy-optimal control -based strategy for a biological wastewater treatment plant sized to serve a city with 250,000 inhabitants, modeled with simulation environment SIMBA. The basic idea of the paper is to establish an extended operating point of the biological treatment plant at optimal setpoints to ensure an increased efficiency of the treatment process. In essence, the operating point of the biological treatment plant consists of three setpoints of the dissolved oxygen concentration in the three biological reactor tanks as well as the setpoint of the nitrate concentration in one tank, setpoints established in a previous paper, to which is added the optimal value of the external recirculation flow rate. It is the main contribution of this paper. The calculation of the optimal setpoints was made based on the minimization of a performance criterion that takes into account the quality of the effluent, the costs of the wastewater treatment process and the possible exceeding of nitrogen and its components. The calculus of the optimal value of the external recirculation flow rate was made taking into account the three operating regime of the wastewater treatment plant through a fuzzy block.

Keywords: Distributed Systems
Abstract: This paper is concerned with the observer design for one-dimensional class of nonisothermal tubular reactors considering in-domain pointwise measurements of temperature over the entire spatial domain. A Lyapunov-based design method is derived for the PDE system providing sufficient conditions, in the form of standard linear matrix inequalities (LMIs), for the exponential convergence of the estimation error with a given decay rate. The approach is applied and tested with a representative case of a tubular reactor with non-monotonic kinetics satisfying the sufficient solvability conditions. Simulation results support the effectiveness of the suggested design.

Keywords: Nonlinear Systems, Other Topics
Abstract: In this work, an analysis of the dynamic behavior of some environmental indicators and the annual based operation costs under ammonia-based control of activated sludge process is carried out. A comprehensive analysis of the evolution of environmental indicators considering different temporal windows (weekly and bimonthly) allows to detect the seasonal effect of influent disturbances, as well as, the most convenient control actions on each scenario. It makes possible to formulate an ammonium-based control (Cascade SNHSP) strategy, where a sequence of movements of ammonium set-point (SNHSP) and carbon dosage (Qcarb) are defined to minimize energy consumption and the use of chemicals with a minimum impact on effluent quality. Thus, the proposed strategy improves overall wastewater treatment plant (WWTP) performance.

Keywords: Optimization, Predictive Control, Modeling, Simulation and CAD Tools
Abstract: This paper concerns with the elaboration of control strategies optimizing closed photobioreactor operation in solar conditions. To this end, a model based optimization study has been carried out. It was based on a dynamic model for the photosynthetic growth of Chlorella Vulgaris in PBR, coupling a kinetic model able to accurately describe light dependent growth, with a radiative transfer model describing light distribution inside the culture depth. The strategy consists in controlling the dilution rate so that the biomass produced and removed from the PBR over the day to be maximized. Different optimization criteria have been implemented and the obtained results have been discussed in a comparative study considering practical implementation issues. The three optimizations strategies studied led to an improvement on defined criteria and on associated biomass productivity

Keywords: Control Systems Design, Industrial Applications, Other Topics
Abstract: Internal recirculation plays an important role in the different biological treatment areas of a wastewater treatment plant, because it has a great influence on the concentration of pollutants, especially nutrients. The most common uses of the internal recirculation flow rate are to keep it fixed or to manipulate it to obtain a fixed nitrate set-point in the last anoxic tank using control techniques. This work proposes a new control strategy for manipulating the internal recirculation flow rate by applying a fuzzy controller. The proposed controller takes into account the effects of the internal recirculation flow rate at the inlet of the biological treatment and in the denitrification and nitrification processes with the aim of reducing violations of legally established limits of nitrogen and ammonia and also reducing operational costs. The proposed fuzzy controller is tested by simulation with the internationally known benchmark simulation model no. 2. The default control strategy with a hierarchical dissolved oxygen control is used and the results are compared by keeping the recirculation flow fixed (as the default control strategy) and manipulating it with the proposed fuzzy controller . The results show reduction improvements of 68.78% of total nitrogen limit violations, 24.92% of ammonia limit violations and 3.79% of pumping energy costs.

Keywords: Other Topics, System Identification and Modeling, Industrial Applications
Abstract: Anaerobic digestion is widely used for waste treatment and the production of biogas. The automatization and optimization of the operation of the digester is still a challenging task. This study considers the first step in designing the optimal continuous operation of experimental anaerobic digestion, namely its modeling. The well-known Anaerobic Digestion Model No.1 (ADM1) model is used, and its parameters are identified from experimental data. Sensitivity analysis allows determining the more influential kinetic parameters of the model to be identified. The modeling procedure is assessed, and its performance is highlighted through the comparison between measured and predicted outputs.

Keywords: System Identification and Modeling, Control Systems Design, Industrial Applications
Abstract: Microgrid systems have established a firm stepping stone in recent years for power grid digital transformation and decentralization. Regarding complex energy loads such as transportation systems, overcoming Microgrid design difficulties sometimes proves to be a challenge. In this paper, a hybrid Microgrid model is designed for a subway station. The Microgrid aims to supply the lighting system with photovoltaic energy, also integrating a battery system to provide a stable power flow management. Furthermore, a hierarchical control structure is designed, with voltage and current controllers managed by a central control unit. The model is validated with a specific load profile and simulations are conducted in different environmental scenarios.

Keywords: System Identification and Modeling, Nonlinear Systems
Abstract: The estimation of pounding effects between adjacent buildings in dense urban areas during strong ground motions is highly significant for practitioners. In this paper, the pounding-induced effects and the associated seismic damage states are evaluated for two colliding 6-story reinforced concrete (RC) frame structures. The nonlinear-induced behavior and the associated damage state are described using the force analogy method (FAM) coupled with a numerically efficient state-space formulation of the equations of motion. The pounding forces are computed using the nonlinear viscoelastic impact element. The force analogy method coupled with the state-space formulation conducts to an explicit integration scheme. Finally, the nonlinear time-history analyses and the damage evaluation are performed using three seismic accelerations recorded in the same site during the 1977, 1986 and 1990 earthquakes that took place in Romania.

Keywords: Instrumentation, System Identification and Modeling
Abstract: This paper presents a bi-polynomial least squares approximation method (LSM) related to the Callendar-Van Dusen (CVD) model to analyse the estimation accuracy. A Kalmanfilter(KF)isusedasapossiblealternativeforestimations in the presence of noise in the measurements. It is shown that the KF obtained a higher estimation accuracy of the sum of squared residuals (SSR) index with respect to the least squares method (LSM), which minimises the squared estimate of errors (SSE). Thanks to these results, it is possible to choose between LSM or the KF for an adequate fitting using SSE or SSR. A case study is presented, in which this method is shown together with the experimental analysis of the implemented algorithm.

Keywords: Industrial Applications, System Identification and Modeling
Abstract: The paper deals with a Dual Kalman Filter to estimate parameters Ld and Lq, direct and quadrature inductances of a Permanent Magnet Synchronous Motor (PMSM). Using the model of the system, reference parameters are considered as a virtual measured system. In this way, the estimation of the parameters can be separated by the estimation of the states. Simulation results are shown and the effectiveness of the method with them.

Keywords: Modeling, Simulation and CAD Tools, Control Systems Design
Abstract: The paper analyzes the formation of the bullwhip effect in logistic systems, as a major threat to preserving stability in the face of non-negligible goods transport delay and uncertainty of demand and stock records. The popular Order-Up-To policy is selected as the method governing the goods flow. A dynamic model of entity interaction is constructed and examined, first, analytically, then in numerical tests for various scenarios of practical significance, e.g., a supply chain with external and local demand signals. It has been found that the Order-Up-To policy does not trigger the bullwhip effect despite the delays in the goods delivery in the nominal operating conditions. However, when the stock records are imprecise or erroneous, the bullwhip effect does occur. It leads to economic costs increase and, in certain cases, to the loss of system stability. The intensity of the bullwhip effect depends on the type of demand distribution function with the normal distribution leading to the largest order-to-demand variance increase.

Keywords: Modeling, Simulation and CAD Tools, Industrial Applications
Abstract: Applications intended for simulation allow modeling and analysis much more often lately and they become indispensable for the development of any electrical and electronic system. The considerable reduction of time and costs of research and can be fixed if the method of simulating a power line can be done before designing the system, thus offering the possibility to avoid major errors that may affect the actual implementation of a system. This paper aims to picture that a simulation model can establish a very precise solution for different categories of researchers that develop various systems through designing the power lines for low-frequency.

Keywords: Robotics, Manufacturing Systems, Nonlinear Systems
Abstract: Abstract. The aim of this paper is to present a real time control application to en-sure the reusing/reprocessing capability of the non-compliant parts in an Assem-bly/Disassembly Mechatronics Line (A/DML). The novelty of this paper consists in the use of a Mobile Visual Servoing Application in order to guarantee the cor-rect handling of the reused/reprocessed parts. These parts are the result of the dis-assembly station and there are taken by a mobile robot equipped with a 7DOF manipulator without having any apriori information concerning the position and orientation of the parts. In order to perform this task, the Wheeled Mobile Robot (WMR) is synchronized with the A/DML. The manufacturing lines served by mobile robots have hybrid characteristics, consisting of continuous dynamic be-haviors (mobile robots) and discrete event behaviors (A/DML). Real-time control application is designed and implemented allowing automated processing and re-processing of a production volume. The solution is validated using the real time implementation of the designed architecture for the hybrid system consisting of the Assembly/Disassembly Mechatronics Line (A/DML), with fixed number of workstations, HERA &Horstmann completed with a disassembly workstation, served by Wheeled Mobile Robot (WMR), People Bot equipped with a 7DOF Robotic Manipulator (RM) with mobile visual servoing system.

Keywords: Robotics, Real Time Applications, Modeling, Simulation and CAD Tools
Abstract: We present a simultaneous localization and mapping algorithm for a mobile robot in 3D. It allows to construct a map of the environment without artifacts caused by dynamic objects such as trees or people. Experimental results confirm the effectiveness of the algorithm in real world scenarios. We also compare the developed algorithm with previously realized analogs.

Keywords: Control Systems Design, Robotics
Abstract: The paper presents the full implementation of a self-balancing robot based on the mathematical model of an inverted pendulum. The self-balancing robot presented in this paper represents a real-life inverted pendulum built using stepper motors. A linear quadratic regulator (LQR) is tuned to obtain accurate control of angular and linear position of the robot. The control strategy is successfully validated on both simulation and real-life experiments targeting reference tracking and disturbance rejection.

Keywords: Virtual Reality, Hardware Design, Modeling, Simulation and CAD Tools
Abstract: Abstract—The development of both hardware and software technology in recent years has led to the creation of complex virtual environments and boosted the desire of both users and developers to make them as immersive as possible. To achieve this immersion, virtual reality applications must interact with physical systems, that generally consist of command and control electronics, actuators and a sensory system. This paper presents a series of experiments performed by the authors in order to determine three major steps in the process of interaction between hardware systems and software emulating virtual environments: transpose the events from Unity virtual environment into signals necessary to control a physical system, transmission of the signals generated by the sensory system and, interpretation and conversion of those signals into events for the virtual reality application. Because interconnection involves both receiving and transmitting signals, the authors propose a two-way control interface implemented on different development boards. At the same time, the experiments aimed to observe the response of the physical systems and to determine an algorithm for correlating the action of the physical system, with a proportionality factor of one to one, related to the events that occurred in the virtual reality.

Keywords: Predictive Control, Robotics, Optimization
Abstract: Executing a robust person-following behaviour is a crucial task for service robots. This requires real-time tracking of the target person and maintaining it in its field of view (FOV) as long as possible while also keeping a safe distance without collision. Such a robot has to autonomously traverse long corridors, bend around corners, curve around an obstacle and join the person back, or even wait them out. Thus, in an unknown urban setting, with other agents and service robots, dynamic target tracking and obstacle avoidance becomes a challenging task for autonomous non-holonomic robots. Model Predictive Control (MPC) has the ability to incorporate future predictions. vehicle kinematics, and non-linearity of constraints while still being reasonably fast for slow and medium walking speeds of a human being. Thus, by solving a single non-linear MPC we can track the unknown dynamic trajectory of a person in real-time, and avoid undesirable proximity.

In this paper, a constrained MPC framework is designed that meets the above conditions gracefully. The person-following robot (PFR) is able to track a moving target in a simulated environment. With an adequate upper margin of 20Hz, the MPC sends velocity commands for a collision-free trajectory among an increasing number of obstacles in its perceived periphery. In an incremental fashion, it is also able to adapt to varying walking behaviour, that is, types of trajectories and walking speed.

Keywords: Modeling, Simulation and CAD Tools, Robotics, Manufacturing Systems
Abstract: In robotics applications, simulation is a powerful tool that allows customization, troubleshooting, and reduction of the cost and time of development, even in the absence of a physical robot. This paper presents the modelling and simulation of an omnidirectional mobile platform with Mecanum wheels, coupled with the UR5 robotic arm, in preparation for the implementation on the real robot. The goal of simulation is to move the platform to the proximity of work objects by executing only translational movements, pick up the objects using the robotic arm, store them on the platform and transport them to the destination.

Keywords: Communication Systems, Networked Control
Abstract: Nowadays, providing an efficient service of video streaming goes much beyond the domain of entertainment. It plays an important role in the industry, especially in the systems of monitoring and robotic automation. The modern multimedia applications require both high network throughput and short latency, rarely available within a single data channel. Until recently, nonhomogeneous channels could not have been concurrently employed to boost the throughput owing to the protocol legacy restrictions. In order to answer the current challenges, new protocols, in particular, Multipath TCP (MPTCP), have been elaborated. In the standard MPTCP implementation, however, only one type of congestion control (CC) algorithm is used to manage the stream dynamics. Instead of providing benefits, such approach may actually downgrade the user experience through the intensified perturbations caused by Head-of-Line blocking in the multipath connection (inability to reconstruct the stream in a timely manner due to missing pieces on certain paths). In this work, the impact of current TCP CC algorithms, operating at the path and MPTCP level, on the video stream characteristics is investigated. The considered scenarios, involving a live-video connection passing through heterogeneous, public networks, set the basis for recommendations about the CC algorithm selection for the modern multimedia networking services.

Keywords: Signal Processing, Communication Systems
Abstract: Power engineering device testing implies generating a mono-phase or three-phase voltage and current system, with customizable parameters in order to simulate operating regimes resembling those found in electric power plants. These specific electrical signals are generated using specialized equipment of power system simulator type. The generated output electrical quantities are real-time monitored by users through a functional module for measurement and display, included in the simulator’s structure. This paper presents the development of a complete hardware configuration of a signal parameter measurement and display block and the implementation of a software application which controls this unit. The configurable power system simulator including this module finds its utility especially in inspecting and parameter setting for protection relays used in electric power plants.

Keywords: Computer Architectures, Communication Systems, Hardware Design
Abstract: Hardware priority queues are data structures employed to build efficient communication infrastructures or to significantly speed up certain classes of algorithms such as task scheduling. This paper proposes an enhanced hardware priority queue which inherits its base idea from the shift register model. The designed enhancement aims at avoiding the costly shift operation needed to enqueue or dequeue data. This is achieved by using a mechanism that operates on some of the top locations of the queue and selects the data to be read and postpones the shift operation. A similar approach is used to enhance the write operation by avoiding the data shift in some cases if the new data must be introduced in the area belonging the top of the queue data area. The basic structural element is a storage cell that can decide autonomously how to behave when performing an operation. We developed a configurable tool which generates different queue instances based on specific parameters. The generated queues are processed using FPGA flows. Multiple simulations were carried out using simple and enhanced versions of the queue and a significant switching activity reduction is reported in the case of the enhanced version. The simulations use various distributions and parameters for enqueue and dequeue requests generation. Simulations prove the functional correctness and synthesis reports prove the power efficiency and the moderate resource overhead of the enhanced version compared to the baseline.

Keywords: Internet Security, Databases and Data Mining, Communication Systems
Abstract: Technological and social developments lead to repositioning of criminal actions and adapted responses of Information Systems. On the invisible front, confrontations between national or international organizations and entities that are strictly economically motivated or supported by terrorist groups take place. The direct and indirect effects are difficult to predict due to the high degree of uncertainty of the phenomenon as a whole. The mobility of the relevant factors is quite high and that is why the algorithms use probabilistic models. The losses are quantified as a post factum effect of the events. The present study aims to present Data Mining and Analysis of possible impact that can be felt, starting from a review of actions against official institutions, transformations that occur in crises and finally, a set of proposals in support of alignment with common international standards.

Keywords: Communication Systems, Hardware Design, Optimization
Abstract: With the increased demand of visible light communications (VLC) with applicability in vehicular applications, there is also a need in raising light intensity received on the receiver side from the active light sources, to be able to form a temporary end-to-end network through physical measures, besides electronic ones. The present article tackles the present demands of vehicular VLC links. By analyzing the road infrastructure and the light sources, preliminary calculations were conducted towards practical applications. Interdisciplinary observations have been taken into account, in order to direct feasible solutions, and to raise the signal to noise ratio (SNR) of the active link over longer distances. The high frequency of road accidents raises demand a complex safety net in order to reduce their encounters. The complex measures have to involve multiple technologies radio-frequency (RF) as Dedicated Short Range Communications (DSRC), Vehicle-to-everything (V2X), with non-interference ones as VLC. The main advantage is their complementarity, which in case of congestion their mix can achieve their common goal.

Keywords: Communication Systems, Automotive Control Systems, Distributed Systems
Abstract: One of the current hot topics, which presents a constant development achieved at a very high pace, is the automotive domain. Nowadays, this industry has reached the peak period of its rise, and yet we are increasingly aware that with each passing day this industry leaves more room for development and innovation. In this paper, a Vector CANoe simulator was developed to implement the diagnosis system between two controller area network (CAN) nodes. The architecture is based on two CAN networks, with two nodes connected to each. For the development of the diagnosis system, several functions have been created for sending and receiving messages, but also the ISO-TP and UDS protocols have been implemented. The obtained results illustrate that the requests and responses are in accordance with the implemented protocols and meet the desired requirements.

Keywords: Optimization, Nonlinear Systems, Automotive Control Systems
Abstract: The paper proposes new solutions for controlling the combustion regime of Diesel engines: NOx reduction and fuel saving. The dynamic nonlinear model associated to a Diesel engine is evaluated and the linearized and reduced state-models have been approximated and the stability, controllability and observability analysis of these models has been performed. LQR control procedures are presented in order to control the air flow in the intake manifold of the cylinders and the pressure inside the combustion chamber of the Diesel engine. The MMC control solution is developed and the results are ought to be validated on an experimental Diesel platform.

Keywords: Real Time Applications, Control Systems Design, Industrial Applications
Abstract: Switching the control algorithms is a widely used procedure within non-linear process control structures. However, this type of procedure is very sensitive, especially in the presence of disturbances, as it may cause command control shocks which have negative effects on the system being controlled. This procedure is particularly found within the configuration of multiple model type control structures (MM). This paper proposes a practical solution for measuring the value of a shock caused by such a switching algorithm and a procedure that can avoid or reduce its effects. The solution can be directly applied in real-time applications, which is demonstrated by the example included at the end of this paper.

Keywords: Automotive Control Systems, Robotics, Control Systems Design
Abstract: Adaptive Cruise Control (ACC) is a developing technology that optimizes inter-vehicle distance following than human drivers. Therefore, it has been regarded as one of the most efficient ways to increase traffic flow. In this paper, the algorithm for the control of vehicle platooning is investigated by simulating and experimented by using ACC on smart car platforms. In particular, we consider smart cars as platforms for mobile robots. The main goal is to automatically organize in a group at the same speed, at the same time maintaining a prespecified distance between itself and the one in front of it. For simplicity, we assume there is no wireless inter-vehicle communication, i.e. each vehicle measures, with the distance sensor (laser) the distance to the preceding vehicle. The numerical results and experiments have demonstrated the effectiveness and advantage of the method.

Keywords: Adaptive Control and Learning Systems, Real Time Applications, Control Systems Design
Abstract: Water distribution systems represent complex infrastructure and there are many aspects to consider for ensuring the quality of service and reliability in metropolitan areas. There are multiple stages of distribution, while advanced control strategies are required for efficient operation of pumping stations. The proposed solution aims to uncover some of the challenges in the implementation of multiple-model control strategies for pumping stations, in the context of complex water distribution systems. The evaluation of multiple control structures, involving both traditional and advanced learning-based supervisors reveals some general characteristics in the context of an experimental water network.

Keywords: Predictive Control, Control Systems Design, Industrial Applications
Abstract: This paper is proposing a model predictive control (MPC) approach for a pantograph-catenary positioning system. First a transfer function model is obtained from the state space model. Second, this model is discretized. Over the discretized model an MPC algorithm is applied using a model horizon of dimension 10. Simulations are showing the performances of the MPC controller applied on the nonlinear system for different input speed values of the train.

Keywords: Distributed Systems, Software Engineering, Internet of Things
Abstract: The demand for water continues to increase day by day and therefore measures must be established to be able to manage water resources more efficiently. Recently, various intelligent systems have been developed with the common goal of ensuring efficient water management and integrating modern technologies such as Internet of Things, Blockchain, Decision Support Systems and Artificial Intelligence. Nowadays, technological advancements allow collecting, processing and analyzing data from water distribution networks to optimize resources and improve decision making for all parties involved. This article presents a complex architecture, in the form of an integrated platform for real-time control and monitoring for residential networks, with secure data management based on blockchain technology. A Blockchain network based on Hyperledger Fabric was developed in order to evaluate the possibilities of storing the real-time data into a distributed ledger.