This paper presents a model-free fault detection and isolation (FDI) method for non-linear dynamical systems using Koopman operator theory and linear geometric technique. The key idea is to obtain a Koopman-based reduced-order model of a non-linear dynamical system and apply the linear geometric FDI method to detect and isolate faults in the system. Koopman operator is an infinite-dimensional, linear operator which lifts the nonlinear dynamic data into an infinite-dimensional space where the correlations of dynamic data behave linearly. However, due to the infinite dimensionality of this operator, an approximation of the operator is needed for practical purposes. In this work, the Koopman framework is adopted toward non-linear dynamical systems in combination with the linear geometric approach for fault detection and isolation. In order to demonstrate the efficacy of the proposed FDI solution, a mathematical nonlinear dynamical system and an experimental three-tank setup are considered. Results show a remarkable performance of the proposed geometric Koopman-based fault detection and isolation (K-FDI) technique.INDEX TERMS Model-free fault detection and isolation, Koopman operator, Extended dynamic mode decomposition, Geometric approach, Reduced-order model.
Due to recent increase in deployment of Cyber-Physical Industrial Control Systems in different critical infrastructures, addressing cyber-security challenges of these systems is vital for assuring their reliability and secure operation in presence of malicious cyber attacks. Towards this end, developing a testbed to generate real-time data-sets for critical infrastructure that would be utilized for validation of realtime attack detection algorithms are indeed highly needed. This paper investigates and proposes the design and implementation of a cyber-physical industrial control system testbed where the Tennessee Eastman process is simulated in real-time on a PC and the closed-loop controllers are implemented on the Siemens PLCs. False data injection cyber attacks are injected to the developed testbed through the man-in-the-middle structure where the malicious hackers can in real-time modify the sensor measurements that are sent to the PLCs. Furthermore, various cyber attack detection algorithms are developed and implemented in real-time on the testbed and their performance and capabilities are compared and evaluated. INDEX TERMS Industrial Control Systems, Cyber Attack, Attack Detection Algorithm, Man-in-themiddle Attack, Hybrid Testbed.
Despite many advancements in extracorporeal membrane oxygenation (ECMO), the procedure is still correlated with a high risk of patient complications. Simulation-based training provides the opportunity for ECMO staff to practice on real-life scenarios without exposing ECMO patients to medical errors while practicing. At Hamad Medical Corporation (HMC) in Qatar, there is a critical need of expert ECMO staff. Thus, a modular ECMO simulator is being developed to enhance the training process in a cost-effective manner. This ECMO simulator gives the instructor the ability to control the simulation modules and run common simulation scenarios through a tablet application. The core modules of the simulation system are placed in the patient unit. The unit is designed modularly such that more modules can be added throughout the simulation sessions to increase the realism of the simulation sessions. The new approach is to enclose the patient unit in a trolley, which is custom-designed and made to include all the components in a modular fashion. Each module is enclosed in a separate box and then mounted to the main blood simulation loop box using screws, quick connect/disconnect liquid fittings, and electrical plugs. This method allows fast upgrade and maintenance for each module separately as well as upgrading modules easily without modifying the trolley’s design. The prototype patient unit has been developed for portability, maintenance, and extensibility. After implementation and testing, the prototype has proven to successfully simulate the main visual and audio cues of the real emergency scenarios, while keeping costs to a minimum.
Simulators for extracorporeal membrane oxygenation (ECMO) have problems of bulky devices and low-fidelity methodologies. Hence, ongoing efforts for optimizing modern solutions focus on minimizing expenses and blending training with the intensive care unit. This is particularly evident following the coronavirus pandemic, where economic resources have been extensively cut. In this paper, as a part of an ECMO simulator for training management, an advance thermochromic ink system for medical blood simulation is presented. The system was developed and enhanced as a prototype with successful and reversible transitions between dark and bright red blood color to simulate blood oxygenation and deoxygenation in ECMO training sessions.
This paper presents a new method for robot interception planning based on the proportional navigation. Guidance laws are basically developed for aerospace applications where a pursuer impacts a target using these methods, however in the robotic application it is required to have a smooth grasp between the robot and the goal. In this method, a new term is considered for longitude axis to have the control on the final approaching velocity. The proposed method not only ensures the position and velocity match (also referred to as rendezvous) but also can be used to set the final closing velocity to any desired value. Approaching velocity can be zero for grasping the goal or a specific known velocity for hitting it in a controlled manner. It is shown that the capture region of the proposed approach is wider that other proportional navigation based methods. The proposed method is implemented on Qbot-2 and its performance is experimentally validated.
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