Related papers: Computer Aided Control System Design for Time Dela…
Security risk assessment is essential in establishing the trustworthiness and reliability of modern systems. While various security risk assessment approaches exist, prevalent applications are "pen and paper" implementations that -- even if…
We introduce the Control Toolbox (CT), an open-source C++ library for efficient modeling, control, estimation, trajectory optimization and Model Predictive Control. The CT is applicable to a broad class of dynamic systems but features…
We study the stability of unstable steady states in scalar retarded time-delayed systems subjected to a variable-delay feedback control. The important aspect of such a control problem is that time-delayed systems are already…
Cyber-physical systems (CPS), in most instances, represent systems of systems with an informationally decentralized structure such as emerging mobility systems, networked control systems, sustainable manufacturing, smart power grids, power…
We propose a new algorithm to simplify the controller development for distributed robotic systems subject to external observations, disturbances, and communication delays. Unlike prior approaches that propose specialized solutions to…
Discrete-time stochastic systems with continuous spaces are hard to verify and control, even with MDP abstractions due to the curse of dimensionality. We propose an abstraction-based framework with robust dynamic programming mappings that…
We introduce a large-scale benchmark for broad- and narrow-phase continuous collision detection (CCD) over linearized trajectories with exact time of impacts and use it to evaluate the accuracy, correctness, and efficiency of 13…
Connected and automated vehicles (CAVs) have the potential to address the safety, mobility and sustainability issues of our current transportation systems. Cooperative adaptive cruise control (CACC), for example, is one promising technology…
Nowadays, the rapid increases of the scale and complexity of the controlled plants bring new challenges such as computing power and storage for conventional control systems. Cloud computing is concerned as a powerful solution to handle the…
Memory controller scheduling is crucial in multicore processors, where DRAM bandwidth is shared. Since increased number of requests from multiple cores of processors becomes a source of bottleneck, scheduling the requests efficiently is…
In this paper we present the development of a Systematic high level design model based on MATLAB scripts. It is integrated into a graphical behavioral model toolbox for the synthesis and simulation of a Continuous-Time Delta Sigma ADC. For…
Computer-Aided Design (CAD) powers modern engineering, yet producing high-quality parts still demands substantial expert effort. Many AI systems tackle CAD reverse engineering, but most are single-pass and miss fine geometric details. In…
In this paper, we propose a novel Control Barrier Function (CBF) based controller for nonlinear systems with complex, time-varying input constraints. To deal with these constraints, we introduce an auxiliary control input to transform the…
A new congestion and delay control algorithm named QUIC Delay Control (QUIC-DC) is proposed for controlling not only congestion but also the queueing delay encountered along the forward communication path. The core idea is to estimate the…
This paper presents advanced symbolic time series analysis (ASTSA) for large data sets emanating from cyber physical systems (CPS). The definition of CPS most pertinent to this paper is: A CPS is a system with a coupling of the cyber…
Component-Based Development (CBD) is a popular approach to mitigating the costs of creating software systems. However, it is not clear to what extent the core component selection and adaptation activities of CBD can be implemented to…
In this paper, we focus on the design and verification of timed automata (TA). We introduce a new method for assisting construction and verification of TA models along with a tool implementing the proposed method, i.e., ATAC: Automated…
Development of Cyber Physical Systems (CPSs) requires close interaction between developers with expertise in many domains to achieve ever-increasing demands for improved performance, reduced cost, and more system autonomy. Each engineering…
Planning-oriented end-to-end driving models show great promise, yet they fundamentally learn statistical correlations instead of true causal relationships. This vulnerability leads to causal confusion, where models exploit dataset biases as…
Computer Aided Design systems provide tools for building and manipulating models of solid objects. Some also provide access to programming languages so that parametrised designs can be expressed. There is a sharp distinction, therefore,…