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Articles 1 - 13 of 13
Full-Text Articles in Computer Engineering
Fair Fault-Tolerant Approach For Access Point Failures In Networked Control System Greenhouses, Mohammed Ali Yaslam Ba Humaish
Fair Fault-Tolerant Approach For Access Point Failures In Networked Control System Greenhouses, Mohammed Ali Yaslam Ba Humaish
Theses and Dissertations
Greenhouse Networked Control Systems (NCS) are popular applications in modern agriculture due to their ability to monitor and control various environmental factors that can affect crop growth and quality. However, designing and operating a greenhouse in the context of NCS could be challenging due to the need for highly available and cost-efficient systems. This thesis presents a design methodology for greenhouse NCS that addresses these challenges, offering a framework to optimize crop productivity, minimize costs, and improve system availability and reliability. It contributes several innovations to the field of greenhouse NCS design. For example, it recommends using the 2.4GHz frequency …
Improving The Flexibility And Robustness Of Machine Tending Mobile Robots, Richard Ethan Hollingsworth
Improving The Flexibility And Robustness Of Machine Tending Mobile Robots, Richard Ethan Hollingsworth
Theses and Dissertations
While traditional manufacturing production cells consist of a fixed base robot repetitively performing tasks, the Industry 5.0 flexible manufacturing cell (FMC) aims to bring Autonomous Industrial Mobile Manipulators (AIMMs) to the factory floor. Composed of a wheeled base and a robot arm, these collaborative robots (cobots) operate alongside people while autonomously performing tasks at different workstations. AIMMs have been tested in real production systems, but the development of the control algorithms necessary for automating a robot that is a combination of two cobots remains an open challenge before the large scale adoption of this technology occurs in industry. Currently popular …
Learning Robot Motion From Creative Human Demonstration, Charles C. Dietzel
Learning Robot Motion From Creative Human Demonstration, Charles C. Dietzel
Theses and Dissertations
This thesis presents a learning from demonstration framework that enables a robot to learn and perform creative motions from human demonstrations in real-time. In order to satisfy all of the functional requirements for the framework, the developed technique is comprised of two modular components, which integrate together to provide the desired functionality. The first component, called Dancing from Demonstration (DfD), is a kinesthetic learning from demonstration technique. This technique is capable of playing back newly learned motions in real-time, as well as combining multiple learned motions together in a configurable way, either to reduce trajectory error or to generate entirely …
Evaluating Testing Procedures For Openflow Controller Network Re-Provisioning Time, Steven J. Jensen
Evaluating Testing Procedures For Openflow Controller Network Re-Provisioning Time, Steven J. Jensen
Theses and Dissertations
Software-Defined Networking promises several advantages over traditional networking architectures, but has seen little adoption. Recently codified controller evaluation methodologies have seen little validation without strong statistical analysis of the results. The research developed an environment testing implementing a published Network Re-provisioning Time methodology to evaluate five OpenFlow controllers. The methodology is strong with required parameters but had issues with some edge cases. Further refinement and adding a convergence metric may close the gaps.
A General Framework For Characterizing And Evaluating Attacker Models For Cps Security Assessment, Christopher S. Deloglos, Christopher Deloglos
A General Framework For Characterizing And Evaluating Attacker Models For Cps Security Assessment, Christopher S. Deloglos, Christopher Deloglos
Theses and Dissertations
Characterizing the attacker’s perspective is essential to assessing the security posture and resilience of cyber-physical systems. The attacker’s perspective is most often achieved by cyber-security experts (e.g., red teams) who critically challenge and analyze the system from an adversarial stance. Unfortunately, the knowledge and experience of cyber-security experts can be inconsistent leading to situations where there are gaps in the security assessment of a given system. Structured security review processes (such as TAM, Mission Aware, STPA-SEC, and STPA-SafeSec) attempt to standardize the review processes to impart consistency across an organization or application domain. However, with most security review processes, the …
A Framework For Categorization Of Industrial Control System Cyber Training Environments, Evan G. Plumley
A Framework For Categorization Of Industrial Control System Cyber Training Environments, Evan G. Plumley
Theses and Dissertations
First responders and professionals in hazardous occupations undergo training and evaluations for the purpose of mitigating risk and damage. For example, helicopter pilots train with multiple categorized simulations that increase in complexity before flying a real aircraft. However in the industrial control cyber incident response domain, where incident response professionals help detect, respond and recover from cyber incidents, no official categorization of training environments exist. To address this gap, this thesis provides a categorization of industrial control training environments based on realism. Four levels of environments are proposed and mapped to Blooms Taxonomy. This categorization will help organizations determine which …
Omni-Directional Infrared 3d Reconstruction And Tracking Of Human Targets, Emrah Benli
Omni-Directional Infrared 3d Reconstruction And Tracking Of Human Targets, Emrah Benli
Theses and Dissertations
Omni-directional (O-D) infrared (IR) vision is an effective capability for mobile systems in robotics, due to its advantages: illumination invariance, wide field-of-view, ease of identifying heat-emitting objects, and long term tracking without interruption. Unfortunately, O-D IR sensors have low resolution, low frame rates, high cost, sensor noise, and an increase in tracking time. In order to overcome these disadvantages, we propose an autonomous system application in indoor scenarios including 1) Dynamic 3D Reconstruction (D3DR) of the target view in real time images, 2) Human Behavior-based Target Tracking from O-D thermal images, 3) Thermal Multisensor Fusion (TMF), and 4) Visual Perception …
Emulation Of Industrial Control Field Device Protocols, Robert M. Jaromin
Emulation Of Industrial Control Field Device Protocols, Robert M. Jaromin
Theses and Dissertations
It has been shown that thousands of industrial control devices are exposed to the Internet, however, the extent and nature of attacks on such devices remains unknown. The first step to understanding security problems that face modern supervisory control and data acquisition (SCADA) and industrial controls networks is to understand the various attacks launched on Internet-connected field devices. This thesis describes the design and implementation of an industrial control emulator on a Gumstix single-board computer as a solution. This emulator acts as a decoy field device, or honeypot, intended to be probed and attacked via an Internet connection. Evaluation techniques …
Creating A Network Model For The Integration Of Dynamic And Static Supervisory Control And Data Acquisition (Scada) Test Environment, Marlon Coerbell
Creating A Network Model For The Integration Of Dynamic And Static Supervisory Control And Data Acquisition (Scada) Test Environment, Marlon Coerbell
Theses and Dissertations
Since 9/11 protecting our critical infrastructure has become a national priority. Presidential Decision Directive 63 mandates and lays a foundation for ensuring all aspects of our nation's critical infrastructure remain secure. Key in this debate is the fact that much of our electrical power grid fails to meet the spirit of this requirement. My research leverages the power afforded by Electric Power and Communication Synchronizing Simulator (EPOCHS) developed with the assistance of Dr. Hopkinson, et al. The power environment is modeled in an electrical simulation environment called PowerWorld©. The network is modeled in OPNET® and populated with self-similar network and …
Decisive Routing And Admission Control According To Quality Of Service Constraints, Cindy C. Reese
Decisive Routing And Admission Control According To Quality Of Service Constraints, Cindy C. Reese
Theses and Dissertations
This research effort examines, models, and proposes options to enhance command and control for decision makers when applied to the communications network. My goal is to research the viability of combining three students’ past research efforts and expanding and enhancing those efforts. The area of this research is predicting a snapshot of the communications network, context-aware routing between network nodes, and Quality of Service-based routing optimization in order to create an intelligent routing protocol platform. It will consolidate efforts from an Intelligent Agent Based Framework to Maximize Information Utility by Captain John Pecarina, Dialable Cryptography for Wireless Networks by Major …
Unified Behavior Framework In An Embedded Robot Controller, Stephen S. Lin
Unified Behavior Framework In An Embedded Robot Controller, Stephen S. Lin
Theses and Dissertations
Robots of varying autonomy have been used to take the place of humans in dangerous tasks. While robots are considered more expendable than human beings, they are complex to develop and expensive to replace if lost. Recent technological advances produce small, inexpensive hardware platforms that are powerful enough to match robots from just a few years ago. There are many types of autonomous control architecture that can be used to control these hardware platforms. One in particular, the Unified Behavior Framework, is a flexible, responsive control architecture that is designed to simplify the control system’s design process through behavior module …
Stochastic Estimation And Control Of Queues Within A Computer Network, Mingook Kim
Stochastic Estimation And Control Of Queues Within A Computer Network, Mingook Kim
Theses and Dissertations
Captain Nathan C. Stuckey implemented the idea of the stochastic estimation and control for network in OPNET simulator. He used extended Kalman filter to estimate packet size and packet arrival rate of network queue to regulate queue size. To validate stochastic theory, network estimator and controller is designed by OPNET model. These models validated the transient queue behavior in OPNET and work of Kalman filter by predicting the queue size and arrival rate. However, it was not enough to verify a theory by experiment. So, it needed to validate the stochastic control theory with other tools to get high validity. …
Adaptive Control Of Woofer-Tweeter Adaptive Optics, Jimmie J. Perez
Adaptive Control Of Woofer-Tweeter Adaptive Optics, Jimmie J. Perez
Theses and Dissertations
Adaptive optics applies advanced sensing and control to improve the ability of optical systems to collect images through a turbulent atmosphere. The results of this research effort demonstrate that the combination of two recent approaches improves the performance of adaptive optics in directed energy and laser communication scenarios. The first approach is adaptive control, which offers improved performance over fixed-gain controllers in the presence of rapidly changing turbulence. The second approach incorporated into the study is a dual-mirror system. The two mirrors are a high-bandwidth, low-actuator-stroke (tweeter) mirror and a low-bandwidth, large actuator-stroke (woofer) mirror. The woofer-tweeter combination allows for …