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This paper introduces AUTOBargeSim, a simulation toolbox for autonomous inland vessel guidance and control system design. AUTOBargeSim is developed using MATLAB and provides an easy-to-use introduction to various aspects of autonomous…
This paper presents a hardware-in-the-loop (HIL) verification system for intelligent, camera-based in-body medical devices. A case study of a Video Capsule Endoscopy (VCE) prototype is used to illustrate the system's functionality. The…
We present the concept of a unified graphical environment for expressing the semantics of control systems. The graphical control system design environment in Simulink already allows engineers to insert a variety of assertions aimed the…
Encouraging student engagement is a key aim in any educational setting, and allowing students the freedom to pursue their own methods of solving problems through independent experimentation has been shown to markedly improve this. In many…
Live time-lapse microscopy is essential for a wide range of biological applications. Software-based automation is the gold standard for the operation of hardware accessories necessary for image acquisition. Given that current software…
Testing is essential for verifying and validating control designs, especially in safety-critical applications. In particular, the control system governing an automated driving vehicle must be proven reliable enough for its acceptance on the…
Controller networks in today's automotive systems consist of more than 100 ECUs connected by various bus protocols. Seamless operation of the entire system requires a well-orchestrated interaction of these ECUs. Consequently, to ensure…
This Research-to-Practice Work in Progress paper presents DCLab, a web-based system for conducting digital logic experiments online, to improve both the effectiveness and the efficiency of digital logic experiment teaching. DCLab covers all…
Our ongoing development and deployment of an online robotics education platform highlighted a gap in providing an interactive, feedback-rich learning environment essential for mastering programming concepts in robotics, which they were not…
This paper presents a simulation based control architecture that integrates Webots and Simulink for the development and testing of robotic systems. Using Webots for 3D physics based simulation and Simulink for control system design, real…
With the maritime industry poised on the cusp of a hybrid revolution, the design and analysis of advanced vessel systems have become paramount for engineers. This paper presents AC and DC electrical hybrid power system models in ETAP, the…
Network emulation using real sensor node hardware is used to increase the accuracy of pure network simulations. Coupling OMNeT++ with network emulation platforms and tools introduces new application possibilities for both sides. This…
The dynamic performance of the generators is a critical factor for the safe operation of the power grid. To this extent, the stability of the frequency of generators is the target of cyber attacks since its instability may lead to sizable…
Software-in-the-loop (SIL) simulation is a widely used method for the rapid development and testing of autonomous vehicles because of its flexibility and efficiency. This paper presents a case study on the validation of an in-house…
In the context of mapping high-level algorithms to hardware, we consider the basic problem of generating an efficient hardware implementation of a single threaded program, in particular, that of an inner loop. We describe a control-flow…
The development of user-friendly embedded prototyping systems like Arduino has made creating interactive devices more accessible. However, debugging these systems is challenging due to the intertwined nature of software and hardware issues.…
This paper presents the ARCAD simulator for the rapid development of Unmanned Aerial Systems (UAS), including underactuated and fully-actuated multirotors, fixed-wing aircraft, and Vertical Take-Off and Landing (VTOL) hybrid vehicles. The…
The increasing integration of renewable energy into the power grid has highlighted the critical importance of demand-side flexibility. Among flexible loads, heating, ventilation, and air-conditioning (HVAC) systems are particularly…
Although software and firmware co-simulation is gaining popularity, it is still not widely used in the FPGA designs. This work presents easy and structured approach for software and firmware co-simulation for bus centric designs. The…
This note briefly introduces the computed torque control method for trajectory tracking. The method is applicable to fully actuated robots, i.e, those whose inverse dynamics can be solved for any feasible acceleration. This includes many…