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To harness the potential of advanced computing technologies, efficient (real time) analysis of large amounts of data is as essential as are front-line simulations. In order to optimise this process, experts need to be supported by…
Manually checking models for compliance against building regulation is a time-consuming task for architects and construction engineers. There is thus a need for algorithms that process information from construction projects and report…
Program analysis is on the brink of mainstream in embedded systems development. Formal verification of behavioural requirements, finding runtime errors and automated test case generation are some of the most common applications of automated…
Control barrier function (CBF) has recently started to serve as a basis to develop approaches for enforcing safety requirements in control systems. However, constructing such function for a general system is a non-trivial task. This paper…
Embedded Systems combine one or more processor cores with dedicated logic running on an ASIC or FPGA to meet design goals at reasonable cost. It is achieved by profiling the application with variety of aspects like performance, memory…
Modern cyber-physical systems (CPS) have a close inter-dependence between software and physical components. Automotive embedded systems are typical CPS, as physical chips, sensors and actuators are physical components and software embedded…
Model-Based Development (MBD) is widely used for embedded controls development, with Matlab Simulink being one of the most used modelling environments in industry. As with all software, Simulink models are subject to evolution over their…
Certifying the safety of nonlinear systems, through the lens of set invariance and control barrier functions (CBFs), offers a powerful method for controller synthesis, provided a CBF can be constructed. This paper draws connections between…
Modern autonomous systems, such as flying, legged, and wheeled robots, are generally characterized by high-dimensional nonlinear dynamics, which presents challenges for model-based safety-critical control design. Motivated by the success of…
This paper proposes a safety-critical control design approach for nonlinear control affine systems in the presence of matched and unmatched uncertainties. Our constructive framework couples control barrier function (CBF) theory with a new…
Service robots are complex, heterogeneous, software intensive systems built from components. Recent robotics research trends mainly address isolated capabilities on functional level. Non-functional properties, such as responsiveness or…
Developers who primarily engage with software often struggle to incorporate custom hardware into their applications, even though specialized silicon can provide substantial benefits to machine learning and AI, as well as to the application…
The role of scalable high-performance workflows and flexible workflow management systems that can support multiple simulations will continue to increase in importance. For example, with the end of Dennard scaling, there is a need to…
We propose distributed iterative algorithms for safe control design and safety verification for networked multi-agent systems. These algorithms rely on distributing a control barrier function (CBF) related quadratic programming (QP) problem…
This paper studies the efficient implementation of safety filters that are designed using control barrier functions (CBFs), which minimally modify a nominal controller to render it safe with respect to a prescribed set of states. Although…
This paper presents a method to decompose an op-amp into its functional blocks. The method is able to recognize functional blocks on a high level of abstraction as loads or amplification stages which have a large set of possible structural…
Software implements a significant proportion of functionality in factory automation. Thus, efficient development and the reuse of software parts, so-called units, enhance competitiveness. Thereby, complex control software units are more…
In this paper, we study a safe control design for dynamical systems in the presence of uncertainty in a dynamical environment. The worst-case error approach is considered to formulate robust Control Barrier Functions (CBFs) in an…
IEC 61131 has been widely accepted in the industrial automation domain. However, it is claimed that the standard does not address today the new requirements of complex industrial systems, which include among others, portability,…
This study proposes an adaptive subsystem-based control (SBC) for systematic and straightforward nonlinear~control of nth-order strict-feedback form (SFF) systems.~By decomposing the SFF system to subsystems, a generic~term (namely…