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  • 1.
    Kostrzewski, Szymon
    et al.
    PMARlab, Department of Mechanics and Machine Design (DIMEC), University of Genova, Genova, Italy.
    Apputhanthri, Rusiru Dasantha
    PMARlab, Department of Mechanics and Machine Design (DIMEC), University of Genova, Genova, Italy.
    Masood, Jawad
    PMARlab, Department of Mechanics and Machine Design (DIMEC), University of Genova, Genova, Italy.
    Cepolina, Emanuela Elisa
    PMARlab, Department of Mechanics and Machine Design (DIMEC), University of Genova, Genova, Italy.
    Portable Mechatronic System for Demining Applications: Control Unit Design and Development2007Inngår i: The Fourth International Symposium: “Mechanical Demining”: Book Of Papers / [ed] Oto Jungwirth & Nikola Pavković, Zagreb, 2007, s. 27-30Konferansepaper (Annet vitenskapelig)
    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.

  • 2.
    Masood, Jawad
    et al.
    Högskolan i Halmstad, Akademin för informationsteknologi, Halmstad Embedded and Intelligent Systems Research (EIS).
    Philippsen, Roland
    Högskolan i Halmstad, Akademin för informationsteknologi, Halmstad Embedded and Intelligent Systems Research (EIS), CAISR Centrum för tillämpade intelligenta system (IS-lab).
    Duracz, Jan
    Högskolan i Halmstad, Akademin för informationsteknologi, Halmstad Embedded and Intelligent Systems Research (EIS), Centrum för forskning om inbyggda system (CERES).
    Taha, Walid
    Högskolan i Halmstad, Akademin för informationsteknologi, Halmstad Embedded and Intelligent Systems Research (EIS), Centrum för forskning om inbyggda system (CERES). Rice University, Houston, Texas, USA.
    Eriksson, Henrik
    SP Technical Research Institute, Borås, Sweden.
    Grante, Christian
    Volvo Group Trucks Technology, Göteborg, Sweden.
    Domain Analysis for Standardised Functional Safety: A Case Study on Design-Time Verification of Automatic Emergency Breaking2014Inngår i: FISITA World Automotive Congress 2014: Maastricht, The Netherlands 2-6 June 2014: Volume 2 of 5, Hague: Royal Netherlands Society of Engineers (KIVI) , 2014, s. 845-854Konferansepaper (Fagfellevurdert)
    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.

  • 3.
    Masood, Jawad
    et al.
    University of Genoa.
    Zoppi, Matteo
    University of Genoa.
    Molfino, Rezia
    University of Genoa.
    Application of Pseudo-Elastic Wire for Hybrid Cutting Robotic Tool2010Inngår i: 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, 2010Konferansepaper (Annet vitenskapelig)
    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.

  • 4.
    Masood, Jawad
    et al.
    University of Genoa, Genova, Italy.
    Zoppi, Matteo
    University of Genoa, Genova, Italy.
    Molfino, Rezia
    University of Genoa, Genova, Italy.
    Investigation of Personal Mobility Vehicle stability and maneuverability under various road scenarios2012Inngår i: 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Piscataway, N.J.: IEEE Press, 2012, s. 4859-4864Konferansepaper (Fagfellevurdert)
  • 5.
    Masood, Jawad
    et al.
    University of Genoa, Genova, Italy.
    Zoppi, Matteo
    University of Genoa, Genova, Italy.
    Molfino, Rezia
    University of Genoa, Genova, Italy.
    Multi-Terrain Vehicle Active Suspension Control Modeling and Design2011Inngår i: Proceedings of the ASME Design Engineering Technical Conference: Volume 3, Issue PARTS A AND B, New York, NY: ASME Press, 2011, s. 599-605Konferansepaper (Fagfellevurdert)
  • 6.
    Masood, Jawad
    et al.
    University of Genoa, Genoa, Italy.
    Zoppi, Matteo
    University of Genoa, Genoa, Italy.
    Molfino, Rezia
    University of Genoa, Genoa, Italy.
    Pseudo-elastic wire application in robotized cutting systems2013Inngår i: Automation in Construction, ISSN 0926-5805, E-ISSN 1872-7891, Vol. 31, nr May, s. 103-113Artikkel i tidsskrift (Fagfellevurdert)
    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.

  • 7.
    Taha, Walid
    et al.
    Högskolan i Halmstad, Akademin för informationsteknologi, Halmstad Embedded and Intelligent Systems Research (EIS), Centrum för forskning om inbyggda system (CERES).
    Duracz, Adam
    Högskolan i Halmstad, Akademin för informationsteknologi, Halmstad Embedded and Intelligent Systems Research (EIS), Centrum för forskning om inbyggda system (CERES).
    Zeng, Yingfu
    Rice University, Houston TX, USA.
    Atkinson, Kevin
    Rice University, Houston TX, USA.
    Bartha, Ferenc Ágoston
    Rice University, Houston TX, USA.
    Brauner, Paul
    Rice University, Houston TX, USA.
    Duracz, Jan
    Högskolan i Halmstad, Akademin för informationsteknologi, Halmstad Embedded and Intelligent Systems Research (EIS), Centrum för forskning om inbyggda system (CERES).
    Xu, Fei
    Högskolan i Halmstad, Akademin för informationsteknologi, Halmstad Embedded and Intelligent Systems Research (EIS), Centrum för forskning om inbyggda system (CERES).
    Cartwright, Robert
    Rice University, Houston TX, USA.
    Konečný, Michal
    Computer Science Group, Aston University, Birmingham, United Kingdom.
    Moggi, Eugenio
    University of Genova, Genoa, Italy.
    Masood, Jawad
    Rice University, Houston TX, USA.
    Andreasson, Björn Pererik
    Högskolan i Halmstad, Akademin för informationsteknologi.
    Inoue, Jun
    Rice University, Houston TX, USA.
    Sant'Anna, Anita
    Högskolan i Halmstad, Akademin för informationsteknologi, Halmstad Embedded and Intelligent Systems Research (EIS), CAISR Centrum för tillämpade intelligenta system (IS-lab).
    Philippsen, Roland
    Högskolan i Halmstad, Akademin för informationsteknologi, Halmstad Embedded and Intelligent Systems Research (EIS), CAISR Centrum för tillämpade intelligenta system (IS-lab).
    Chapoutot, Alexandre
    ENSTA ParisTech - U2IS, Paris, France.
    O'Malley, Marcia
    Department of Mechanical Engineering, Rice University, Houston TX, USA.
    Ames, Aaron
    School of Mechanical Eng., Georgia Institute of Technology, Atlanta GA, USA.
    Gaspes, Veronica
    Högskolan i Halmstad, Akademin för informationsteknologi, Halmstad Embedded and Intelligent Systems Research (EIS), Centrum för forskning om inbyggda system (CERES).
    Hvatum, Lise
    Schlumberger, Houston TX, USA.
    Mehta, Shyam
    Schlumberger, Houston TX, USA.
    Eriksson, Henrik
    Dependable Systems, SP Technical Research Institute of Sweden, Borås, Sweden.
    Grante, Christian
    AB Volvo, Gothenburg, Sweden.
    Acumen: An Open-source Testbed for Cyber-Physical Systems Research2016Inngår i: 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, s. 118-130Konferansepaper (Fagfellevurdert)
    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.

  • 8.
    Zeng, Yingfu
    et al.
    Rice University, Houston, USA.
    Rose, Chad
    Rice University, Houston, USA.
    Brauner, Paul
    Rice University, Houston, USA.
    Taha, Walid
    Högskolan i Halmstad, Sektionen för Informationsvetenskap, Data– och Elektroteknik (IDE), Halmstad Embedded and Intelligent Systems Research (EIS), Centrum för forskning om inbyggda system (CERES). Rice University, Houston, USA.
    Masood, Jawad
    Högskolan i Halmstad, Sektionen för Informationsvetenskap, Data– och Elektroteknik (IDE), Halmstad Embedded and Intelligent Systems Research (EIS), CAISR Centrum för tillämpade intelligenta system (IS-lab). Högskolan i Halmstad, Sektionen för Informationsvetenskap, Data– och Elektroteknik (IDE), Halmstad Embedded and Intelligent Systems Research (EIS), Centrum för forskning om inbyggda system (CERES).
    Philippsen, Roland
    Högskolan i Halmstad, Sektionen för Informationsvetenskap, Data– och Elektroteknik (IDE), Halmstad Embedded and Intelligent Systems Research (EIS), CAISR Centrum för tillämpade intelligenta system (IS-lab).
    O’Malley, Marcia
    Rice University, Houston, USA.
    Cartwright, Robert
    Högskolan i Halmstad, Sektionen för Informationsvetenskap, Data– och Elektroteknik (IDE), Halmstad Embedded and Intelligent Systems Research (EIS). Rice University, Houston, USA.
    Modeling Basic Aspects of Cyber-Physical Systems, Part II2013Inngår i: Proceedings DSLRob 2013 / [ed] Christian Schlegel, Ulrik Pagh Schultz, Serge Stinckwich, 2013Konferansepaper (Fagfellevurdert)
    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.

  • 9.
    Zeng, Yingfu
    et al.
    Rice University, Houston, TX, USA.
    Rose, Chad
    Rice University, Houston, TX, USA.
    Brauner, Paul
    Rice University, Houston, TX, USA.
    Taha, Walid
    Högskolan i Halmstad, Akademin för informationsteknologi, Halmstad Embedded and Intelligent Systems Research (EIS), Centrum för forskning om inbyggda system (CERES). Rice University, Houston, TX, USA.
    Masood, Jawad
    Högskolan i Halmstad, Akademin för informationsteknologi, Halmstad Embedded and Intelligent Systems Research (EIS).
    Philippsen, Roland
    Högskolan i Halmstad, Akademin för informationsteknologi, Halmstad Embedded and Intelligent Systems Research (EIS), CAISR Centrum för tillämpade intelligenta system (IS-lab).
    O'Malley, Marcia
    Rice University, Houston, TX, USA.
    Cartwright, Robert
    Högskolan i Halmstad, Akademin för informationsteknologi, Halmstad Embedded and Intelligent Systems Research (EIS). Rice University, Houston, TX, USA.
    Modeling Basic Aspects of Cyber-Physical Systems, Part II (Extended Abstract)2014Inngår i: 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, s. 550-557Konferansepaper (Fagfellevurdert)
    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.

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