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Masood, Jawad
Publications (9 of 9) Show all publications
Taha, W., Duracz, A., Zeng, Y., Atkinson, K., Bartha, F. Á., Brauner, P., . . . Grante, C. (2016). Acumen: An Open-source Testbed for Cyber-Physical Systems Research. In: Benny Mandler, Johann Marquez-Barja, Miguel Elias Mitre Campista, Dagmar Cagáňová, Hakima Chaouchi, Sherali Zeadally, Mohamad Badra, Stefano Giordano, Maria Fazio, Andrey Somov & Radu-Laurentiu Vieriu (Ed.), Internet of Things. IoT Infrastructures: Second International Summit, IoT 360° 2015, Rome, Italy, October 27-29, 2015. Revised Selected Papers, Part I. Paper presented at EAI International Conference on CYber physiCaL systems, iOt and sensors Networks (CYCLONE '15), Rome, Italy, October 26, 2015 (pp. 118-130). Heidelberg: Springer, 169
Open this publication in new window or tab >>Acumen: An Open-source Testbed for Cyber-Physical Systems Research
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2016 (English)In: Internet of Things. IoT Infrastructures: Second International Summit, IoT 360° 2015, Rome, Italy, October 27-29, 2015. Revised Selected Papers, Part I / [ed] Benny Mandler, Johann Marquez-Barja, Miguel Elias Mitre Campista, Dagmar Cagáňová, Hakima Chaouchi, Sherali Zeadally, Mohamad Badra, Stefano Giordano, Maria Fazio, Andrey Somov & Radu-Laurentiu Vieriu, Heidelberg: Springer, 2016, Vol. 169, p. 118-130Conference paper, Published paper (Refereed)
Abstract [en]

Developing Cyber-Physical Systems requires methods and tools to support simulation and verification of hybrid (both continuous and discrete) models. The Acumen modeling and simulation language is an open source testbed for exploring the design space of what rigorous-but-practical next-generation tools can deliver to developers of Cyber-Physical Systems. Like verification tools, a design goal for Acumen is to provide rigorous results. Like simulation tools, it aims to be intuitive, practical, and scalable. However, it is far from evident whether these two goals can be achieved simultaneously.

This paper explains the primary design goals for Acumen, the core challenges that must be addressed in order to achieve these goals, the "agile research method" taken by the project, the steps taken to realize these goals, the key lessons learned, and the emerging language design. © ICST Institute for Computer Sciences, Social Informatics and Telecommunications Engineering 2016.

Place, publisher, year, edition, pages
Heidelberg: Springer, 2016
Series
Lecture Notes of the Institute for Computer Sciences, Social Informatics and Telecommunications Engineering, ISSN 1867-8211 ; 169
Keywords
Testbed, Cyber-Physical Systems (CPS), Modeling, Simulation, Hybrid Systems, Open Source Software
National Category
Computer Sciences
Identifiers
urn:nbn:se:hh:diva-29592 (URN)10.1007/978-3-319-47063-4_11 (DOI)000398616500011 ()2-s2.0-85000500985 (Scopus ID)978-3-319-47062-7 (ISBN)978-3-319-47063-4 (ISBN)
Conference
EAI International Conference on CYber physiCaL systems, iOt and sensors Networks (CYCLONE '15), Rome, Italy, October 26, 2015
Funder
Knowledge FoundationVINNOVA, 2011-01819
Note

This work was supported by US NSF award CPS-1136099, the Swedish Knowledge Foundation (KK), The Center for Research on Embedded Systems (CERES), and VINNOVA (Dnr. 2011-01819).

Available from: 2015-10-08 Created: 2015-10-08 Last updated: 2018-03-22Bibliographically approved
Masood, J., Philippsen, R., Duracz, J., Taha, W., Eriksson, H. & Grante, C. (2014). Domain Analysis for Standardised Functional Safety: A Case Study on Design-Time Verification of Automatic Emergency Breaking. In: FISITA World Automotive Congress 2014: Maastricht, The Netherlands 2-6 June 2014: Volume 2 of 5. Paper presented at International Federation of Automotive Engineering Societies 2014 World Automotive Congress, Maastricht, The Netherlands, 2-6 June, 2014 (pp. 845-854). Hague: Royal Netherlands Society of Engineers (KIVI)
Open this publication in new window or tab >>Domain Analysis for Standardised Functional Safety: A Case Study on Design-Time Verification of Automatic Emergency Breaking
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2014 (English)In: FISITA World Automotive Congress 2014: Maastricht, The Netherlands 2-6 June 2014: Volume 2 of 5, Hague: Royal Netherlands Society of Engineers (KIVI) , 2014, p. 845-854Conference paper, Published paper (Refereed)
Abstract [en]

Simulation traditionally computes individual trajectories, which severely limits the assessment of overall system behaviour. To address this fundamental shortcoming, we rely on computing enclosures to determine bounds on system behaviour instead of individual traces. In the present case study, we investigate the enclosures of a generic Automatic Emergency Braking (AEB) system and demonstrate how this creates a direct link between requirement specification and standardized safety criteria as put forward by ISO 26262. The case study strongly supports that a methodology based on enclosures can provide a missing link across the engineering process, from design to compliance testing. This result is highly relevant for ongoing efforts to virtualize testing and create a unified tool-chain for the development of next generation Advanced Driver Assistance Systems.

Place, publisher, year, edition, pages
Hague: Royal Netherlands Society of Engineers (KIVI), 2014
Keywords
Functional Safety, Testing, Engineering Methodology, Advanced Driver Assistance Systems, ISO 26262
National Category
Embedded Systems
Identifiers
urn:nbn:se:hh:diva-27144 (URN)978-1-5108-0209-4 (ISBN)
Conference
International Federation of Automotive Engineering Societies 2014 World Automotive Congress, Maastricht, The Netherlands, 2-6 June, 2014
Funder
VINNOVA, 2011-01819
Available from: 2014-11-28 Created: 2014-11-28 Last updated: 2018-03-22Bibliographically approved
Zeng, Y., Rose, C., Brauner, P., Taha, W., Masood, J., Philippsen, R., . . . Cartwright, R. (2014). Modeling Basic Aspects of Cyber-Physical Systems, Part II (Extended Abstract). In: Randall Bilof (Ed.), 2014 IEEE International Conference on High Performance Computing and Communications, 2014 IEEE 6th International Symposium on Cyberspace Safety and Security, 2014 IEEE 11th International Conference on Embedded Software and Systems (HPCC, CSS, ICESS): . Paper presented at 16th IEEE International Conference on High Performance Computing and Communications HPCC 2014\11th IEEE International Conference on Embedded Software and Systems ICESS 2014\6th International Symposium on Cyberspace Safety and Security CSS 2014, Paris, France, Aug. 20-22, 2014 (pp. 550-557). Piscataway, NJ: IEEE Computer Society
Open this publication in new window or tab >>Modeling Basic Aspects of Cyber-Physical Systems, Part II (Extended Abstract)
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2014 (English)In: 2014 IEEE International Conference on High Performance Computing and Communications, 2014 IEEE 6th International Symposium on Cyberspace Safety and Security, 2014 IEEE 11th International Conference on Embedded Software and Systems (HPCC, CSS, ICESS) / [ed] Randall Bilof, Piscataway, NJ: IEEE Computer Society, 2014, p. 550-557Conference paper, Published paper (Refereed)
Abstract [en]

We continue to consider the question of what language features are needed to effectively model cyber-physical systems (CPS). In previous work, we proposed using a core language as a way to study this question, and showed how several basic aspects of CPS can be modeled clearly in a language with a small set of constructs. This paper reports on the result of our analysis of two, more complex, case studies from the domain of rigid body dynamics. The first one, a quadcopter, illustrates that previously proposed core language can support larger, more interesting systems than previously shown. The second one, a serial robot, provides a concrete example of why we should add language support for static partial derivatives, namely that it would significantly improve the way models of rigid body dynamics can be expressed. © 2014 IEEE.

Place, publisher, year, edition, pages
Piscataway, NJ: IEEE Computer Society, 2014
Keywords
Mathematical model, Equations, Testing, Semantics, Analytical models, Rotors, Computational modeling
National Category
Computer Sciences
Identifiers
urn:nbn:se:hh:diva-35720 (URN)10.1109/HPCC.2014.119 (DOI)000380560600088 ()2-s2.0-84949924020 (Scopus ID)978-1-4799-6123-8 (ISBN)
Conference
16th IEEE International Conference on High Performance Computing and Communications HPCC 2014\11th IEEE International Conference on Embedded Software and Systems ICESS 2014\6th International Symposium on Cyberspace Safety and Security CSS 2014, Paris, France, Aug. 20-22, 2014
Funder
Knowledge FoundationSwedish Foundation for Strategic Research
Note

An extended version of this manuscript was presented at the DSLRob 2013 Workshop. This abridged manuscript is submitted for review at the conference level. Funding: US NSF CPS award 1136099, Swedish KK-Foundation CERES and CAISR Centres, and the Swedish SSF NG-Test Project.

Available from: 2018-02-20 Created: 2018-02-20 Last updated: 2018-03-23Bibliographically approved
Zeng, Y., Rose, C., Brauner, P., Taha, W., Masood, J., Philippsen, R., . . . Cartwright, R. (2013). Modeling Basic Aspects of Cyber-Physical Systems, Part II. In: Christian Schlegel, Ulrik Pagh Schultz, Serge Stinckwich (Ed.), Proceedings DSLRob 2013: . Paper presented at 4th International Workshop on Domain-Specific Languages and models for ROBotic systems (DSLRob-13).
Open this publication in new window or tab >>Modeling Basic Aspects of Cyber-Physical Systems, Part II
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2013 (English)In: Proceedings DSLRob 2013 / [ed] Christian Schlegel, Ulrik Pagh Schultz, Serge Stinckwich, 2013Conference paper, Published paper (Refereed)
Abstract [en]

We consider the question of what language features are needed to effectively model cyber-physical systems (CPS). In previous work, we proposed a core language called Acumen as a way to study this question, and showed how several basic aspects of CPS can be modeled clearly in a language with a small set of constructs. This paper reports on the result of our analysis of two more complex case studies from the domain of rigid body dynamics. The first one, a quadcopter, illustrates that Acumen can support larger, more interesting systems than previously shown. The second one, a serial robot, provides a concrete example of why explicit support for static partial derivatives can significantly improve the expressivity of a CPS modeling language.

National Category
Robotics
Identifiers
urn:nbn:se:hh:diva-24056 (URN)
Conference
4th International Workshop on Domain-Specific Languages and models for ROBotic systems (DSLRob-13)
Funder
VinnovaKnowledge Foundation
Note

This paper is a followup to a paper presented at the DSLRob 2012 Workshop with the same main title. This second part focuses on modeling rigid body dynamics.

This work was supported by the US NSF CPS award 1136099, Swedish KK-Foundation CERES and CAISR Centres, and the Swedish SSF NG-Test Project.

Available from: 2013-12-02 Created: 2013-12-02 Last updated: 2018-03-22Bibliographically approved
Masood, J., Zoppi, M. & Molfino, R. (2013). Pseudo-elastic wire application in robotized cutting systems. Automation in Construction, 31(May), 103-113
Open this publication in new window or tab >>Pseudo-elastic wire application in robotized cutting systems
2013 (English)In: Automation in Construction, ISSN 0926-5805, E-ISSN 1872-7891, Vol. 31, no May, p. 103-113Article in journal (Refereed) Published
Abstract [en]

Analytical and simulation results with pseudo-elastic core wire in stone cutting applications are discussed. System specifications and requirements are defined for the operation of the wire at tensions, speed and general conditions similar to the ones optimized for cutting with standard rope wires with beads of the same diameter. Multi-body dynamic simulation parameters are derived from scale homogenization approach. They are used to run multi-body simulation analysis according to the cutting force requirements. Different simulation schemes and approaches are invented to model the effective cutting forces and system dynamic behavior. Constitutive non-linear pseudo-elastic material model is exploited to be utilized in finite element analysis. The results obtained are further used in finite element analysis in order to study the variation of forces among different sections of pseudo-elastic wire. Finally finite element transient analysis is performed to have an insight into the behavior of the wire under time variant loads. © 2012 Elsevier B.V. All rights reserved.

Place, publisher, year, edition, pages
Amsterdam: Elsevier, 2013
National Category
Engineering and Technology
Identifiers
urn:nbn:se:hh:diva-20641 (URN)10.1016/j.autcon.2012.11.018 (DOI)2-s2.0-84871799759 (Scopus ID)
Available from: 2013-01-10 Created: 2013-01-10 Last updated: 2018-03-22Bibliographically approved
Masood, J., Zoppi, M. & Molfino, R. (2012). Investigation of Personal Mobility Vehicle stability and maneuverability under various road scenarios. In: 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). Paper presented at 2012 IEEE/RSJ, International Conference on Intelligent Robots and Systems (IROS), Vilamoura, Portugal, 7-12 Oct. (pp. 4859-4864). Piscataway, N.J.: IEEE Press
Open this publication in new window or tab >>Investigation of Personal Mobility Vehicle stability and maneuverability under various road scenarios
2012 (English)In: 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Piscataway, N.J.: IEEE Press, 2012, p. 4859-4864Conference paper, Published paper (Refereed)
Place, publisher, year, edition, pages
Piscataway, N.J.: IEEE Press, 2012
Series
IEEE International Conference on Intelligent Robots and Systems. Proceedings, ISSN 2153-0858
National Category
Engineering and Technology
Identifiers
urn:nbn:se:hh:diva-20636 (URN)10.1109/IROS.2012.6386136 (DOI)2-s2.0-84872316931 (Scopus ID)978-1-4673-1737-5 (ISBN)
Conference
2012 IEEE/RSJ, International Conference on Intelligent Robots and Systems (IROS), Vilamoura, Portugal, 7-12 Oct.
Note

Article number: 6386136

Available from: 2013-01-10 Created: 2013-01-10 Last updated: 2018-03-22Bibliographically approved
Masood, J., Zoppi, M. & Molfino, R. (2011). Multi-Terrain Vehicle Active Suspension Control Modeling and Design. In: Proceedings of the ASME Design Engineering Technical Conference: Volume 3, Issue PARTS A AND B. Paper presented at ASME 2011 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference (IDETC/CIE2011), Washington DC, USA, August 28–31 (pp. 599-605). New York, NY: ASME Press
Open this publication in new window or tab >>Multi-Terrain Vehicle Active Suspension Control Modeling and Design
2011 (English)In: Proceedings of the ASME Design Engineering Technical Conference: Volume 3, Issue PARTS A AND B, New York, NY: ASME Press, 2011, p. 599-605Conference paper, Published paper (Refereed)
Place, publisher, year, edition, pages
New York, NY: ASME Press, 2011
National Category
Engineering and Technology
Identifiers
urn:nbn:se:hh:diva-20634 (URN)10.1115/DETC2011-47468 (DOI)2-s2.0-84863584362 (Scopus ID)978-079185480-8 (ISBN)
Conference
ASME 2011 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference (IDETC/CIE2011), Washington DC, USA, August 28–31
Available from: 2013-01-10 Created: 2013-01-10 Last updated: 2018-03-22Bibliographically approved
Masood, J., Zoppi, M. & Molfino, R. (2010). Application of Pseudo-Elastic Wire for Hybrid Cutting Robotic Tool. In: 2010 41st International Symposium on Robotics: ISR, and, 2010 6th German Conference on Robotics (ROBOTIK) : June 7-9, 2010, Munich, Germany. Paper presented at 41st International Symposium on and 2010 6th German Conference on Robotics (ROBOTIK), June 7-9, 2010, Munich, Germany. Piscataway, N.J.: IEEE Press
Open this publication in new window or tab >>Application of Pseudo-Elastic Wire for Hybrid Cutting Robotic Tool
2010 (English)In: 2010 41st International Symposium on Robotics: ISR, and, 2010 6th German Conference on Robotics (ROBOTIK) : June 7-9, 2010, Munich, Germany, Piscataway, N.J.: IEEE Press, 2010Conference paper, Published paper (Other academic)
Abstract [en]

The paper presents a development case of robotic machine for the dismantling of steel-concrete structures using diamondwire technology. The focus is on the application of the so called soft-wire with core made of superelastic alloy in placeof the steel rope traditionally used. Remote-controlled machinery operating in risky areas must be the simplest possiblefor reliability and to shorten the development time as generally these machines are tailored to the task. In the case ofdismantling of nuclear equipment there are two additional reasons to prefer simple designs: the need to decommission thecutting machinery together with the nuclear wastes and the limit to the use of electronics onboard due to radiation. Withsteel-cored cutting wires an active tensioner is needed to compensate for tension shocks occurring during cutting. This isthe most complex component of the cutting system and it requires a control system with actuation and some electronics.A significant benefit comes from the removal of the active tensioner. The current direction is the use of soft wires inplace of the ones with steel core. The steel rope is replaced by a core wire made of superelastic alloy. The tension ofthe wire is an independent cutting parameter. The selection of the core wire architecture and diameter, the point alongthe stress-strain curve where the wire superelastic alloy is in nominal conditions and the use of stress-strain plafond inthe curve are critical. The paper discusses first the principles of cutting with soft wire. Then the design of the cuttingsystem is addressed and the requirements of robotized cutting machinery is discusses. Different simulation schemes andapproaches are proposed to model cutting forces and system dynamics.In a multibody model with the wire treated asa discontinuous flexible winded along a system of pulleys. The data from the multibody analysis is used in the Finiteelements to characterize the static and dynamic response of Pseudo-elastic wire segment between the two diamond beads.

Place, publisher, year, edition, pages
Piscataway, N.J.: IEEE Press, 2010
Keywords
Finite element methods, Force, Joints, Mathematical model, Pulleys, Wire
National Category
Applied Mechanics
Identifiers
urn:nbn:se:hh:diva-20091 (URN)978-3-8007-3273-9 (ISBN)
Conference
41st International Symposium on and 2010 6th German Conference on Robotics (ROBOTIK), June 7-9, 2010, Munich, Germany
Funder
EU, FP7, Seventh Framework Programme
Available from: 2012-12-11 Created: 2012-12-11 Last updated: 2018-03-22Bibliographically approved
Kostrzewski, S., Apputhanthri, R. D., Masood, J. & Cepolina, E. E. (2007). Portable Mechatronic System for Demining Applications: Control Unit Design and Development. In: Oto Jungwirth & Nikola Pavković (Ed.), The Fourth International Symposium: “Mechanical Demining”: Book Of Papers. Paper presented at “Humanitarian Demining 2007” International Symposium, Šibenik, Croatia, 24–27 April, 2007 (pp. 27-30). Zagreb
Open this publication in new window or tab >>Portable Mechatronic System for Demining Applications: Control Unit Design and Development
2007 (English)In: The Fourth International Symposium: “Mechanical Demining”: Book Of Papers / [ed] Oto Jungwirth & Nikola Pavković, Zagreb, 2007, p. 27-30Conference paper, Published paper (Other academic)
Abstract [en]

A new participatory approach that makes use of and improves local end-users knowledge has been used to design a new portable mechatronic system for humanitarian demining applications in Sri Lanka, using power tillers as core module. They are very simple and versatile machines with large scale diffusion in developing countries, where they are commonly used for agriculture and transportation purposes. The system, composed by a tractor unit, a ground processing tool and a vegetation cutting tool is firstly introduced. The paper then focuses on the portable control unit allowing to control the machine from remote distance, in case unexploded ordnance or other fragmentation weapons are known to be present. The module allows forward motion by acting on the clutch, differential and acceleration of the power tiller; steering is controlled by additional brakes, mounted on the driving axle. Two wheels supporting the ground processing tool on the front of the machine are connected to the rear driving ones through tracks. The module can be fit to every kind of power tiller actuated by levers, using differential gear, after only little adjustments. The control is pneumatic and it is powered by the engine of the power tiller itself. The unit, like the others modules, responds to the requirements of safety, low-cost and simpleffectiveness.

Place, publisher, year, edition, pages
Zagreb: , 2007
Keywords
mechatronic demining system, modularity, remote control, pneumatic actuation, low-cost design
National Category
Engineering and Technology Vehicle Engineering
Identifiers
urn:nbn:se:hh:diva-22191 (URN)978-953-99879-3-8 (ISBN)
Conference
“Humanitarian Demining 2007” International Symposium, Šibenik, Croatia, 24–27 April, 2007
Available from: 2013-05-20 Created: 2013-05-20 Last updated: 2018-03-22Bibliographically approved
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