Related papers: Reconciling interoperability with efficient Verifi…
Ensuring safe physical interaction between torque-controlled manipulators and humans is essential for deploying robots in everyday environments. Model Predictive Control (MPC) has emerged as a suitable framework thanks to its capacity to…
Cyber-physical systems (CPS) have been broadly deployed in safety-critical domains, such as automotive systems, avionics, medical devices, etc. In recent years, Artificial Intelligence (AI) has been increasingly adopted to control CPS.…
Cyber-physical systems (CPS) are often defended in the same manner as information technology (IT) systems -- by using perimeter security. Multiple factors make such defenses insufficient for CPS. Resiliency shows potential in overcoming…
Accurate representation of interfaces and flux exchange is vital for coupled multiphysics simulations across a broad range of applications. Currently, coupling approaches are limited by the underlying discretization or to specific physical…
Compute-Near-Memory (CNM) systems offer a promising approach to mitigate the von Neumann bottleneck by bringing computational units closer to data. However, optimizing for these architectures remains challenging due to their unique hardware…
Differentiable physics simulation provides an avenue to tackle previously intractable challenges through gradient-based optimization, thereby greatly improving the efficiency of solving robotics-related problems. To apply differentiable…
We introduce Mars 2.0 for modeling, analysis, verification and code generation of Cyber-Physical Systems. Mars 2.0 integrates Mars 1.0 with several important extensions and improvements, allowing the design of cyber-physical systems using…
Cyber-Physical Systems (CPS) now support critical infrastructure spanning transportation, energy, manufacturing, medical devices, and autonomous robotics. Their defining characteristic is the tight coupling between digital computation and…
Virtual Platforms (VPs) enable early software validation of autonomous systems' electronics, reducing costs and time-to-market. While many VPs support both functional and non-functional simulation (e.g., timing, power), they lack the…
We introduce a general-purpose framework for interconnecting scientific simulation programs using a homogeneous, unified interface. Our framework is intrinsically parallel, and conveniently separates all component numerical modules in…
This paper introduces our Cyber-Physical Mobility Lab (CPM Lab). It is an open-source development environment for networked and autonomous vehicles with focus on networked decision-making, trajectory planning, and control. The CPM Lab hosts…
We propose a component-based semantic model for Cyber-Physical Systems (CPSs) wherein the notion of a component abstracts the internal details of both cyber and physical processes, to expose a uniform semantic model of their externally…
We propose a component-based semantic model for Cyber-Physical Systems (CPSs) wherein the notion of a component abstracts the internal details of both cyber and physical processes, to expose a uniform semantic model of their externally…
The growing complexity of Cyber-Physical Systems (CPS), together with increasingly available parallelism provided by multi-core chips, fosters the parallelization of simulation. Simulation speed-ups are expected from co-simulation and…
OS compromise is one of the most serious computer security problems today, but still not being resolved. Although people proposed different kinds of methods, they could not be accepted by most users who are non-expert due to the lack of…
Due to the increased deployment of renewable energy sources and intelligent components the electric power system will exhibit a large degree of heterogeneity, which requires inclusive and multi-disciplinary system assessment. The concept of…
Physics-based simulation is essential for developing and evaluating robot manipulation policies, particularly in scenarios involving deformable objects and complex contact interactions. However, existing simulators often struggle to balance…
An engineering design process may involve software modules that can executed concurrently. Concurrent modules can be very easily subject to some synchronization errors. This paper discusses verification process for such engineering…
Fluid-Structure Interaction (FSI) can be investigated by means of non-linear Finite Element Models (FEM), suitable to capture large deflections of structural parts interacting with fluids, and Computational Fluid Dynamics (CFD). High…
Computer simulation is an important tool for scientific progress, especially when lab experiments are either extremely costly and difficult or lack the required resolution. However, all of the simulation methods come with limitations. In…