Design and verification of a mobile robot based on the integrated model of cyber-Physical systems

Levshun, Dmitry; Chevalier, Yannick; Kotenko, Igor; Chechulin, Andrey

doi:10.1016/j.simpat.2020.102151

Cited by 12 publications

(6 citation statements)

References 16 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…In addition, the verification process can become an integral part of the solution. It can provide the formal check of the possibility to design microcontroller-based physical security systems in accordance with the given requirements [24]. Moreover, it can provide the formal check of the security level of the designed system in accordance with the model of the attacker.…”

Section: Discussionmentioning

confidence: 99%

See 1 more Smart Citation

Design of Secure Microcontroller-Based Systems: Application to Mobile Robots for Perimeter Monitoring

Levshun

Chechulin

Kotenko

2021

Sensors

Self Cite

View full text Add to dashboard Cite

This paper describes an original methodology for the design of microcontroller-based physical security systems and its application for the system of mobile robots. The novelty of the proposed methodology lies in combining various design algorithms on the basis of abstract and detailed system representations. The suggested design approach, which is based on the methodology, is modular and extensible, takes into account the security of the physical layer of the system, works with the abstract system representation and is looking for a trade-off between the security of the final solution and the resources expended on it. Moreover, unlike existing solutions, the methodology has a strong focus on security. It is aimed at ensuring the protection of the system against attacks at the design stage, considers security components as an integral part of the system and checks if the system can be designed in accordance with given requirements and limitations. An experimental evaluation of the methodology was conducted with help of its software implementation that consists of Python script, PostgreSQL database, Tkinter interface and available for download on our GitHub. As a use case, the system of mobile robots for perimeter monitoring was chosen. During the experimental evaluation, the design time was measured depending on the parameters of the attacker against which system security must be ensured. Moreover, the software implementation of the methodology was analyzed in compliance with requirements and compared with analogues. The advantages and disadvantages of the methodology as well as future work directions are indicated.

show abstract

Section: Discussionmentioning

confidence: 99%

“…The key part of this methodology-the extendable set-based hierarchical relational model of microcontroller-based system-was presented in [23,24]. Moreover, one of the algorithms, namely, algorithm for the design of abstract models, was presented at the 14th International Symposium on Intelligent Distributed Computing (IDC 2021).…”

Section: Introductionmentioning

confidence: 99%

Design of Secure Microcontroller-Based Systems: Application to Mobile Robots for Perimeter Monitoring

Levshun

Chechulin

Kotenko

2021

Sensors

Self Cite

View full text Add to dashboard Cite

show abstract

“…An improved A* method has been designed to discover all possible routes between source node and target node. Levshun et al have introduced the novel model, that is a key factor of the design and verification methodology for secure cyber-physical systems (Levshun, Chevalier, Kotenko, & Chechulin, 2020). While the developed model expresses cyber-physical systems as several building blocks, each building block is the projection of the integrated model with the properties and connections between them.…”

Section: Related Workmentioning

confidence: 99%

Adaptive Operation Model for Interior Smart Logistics in Cyber Physical Systems

Dönmez

Okumuş

Kocamaz

2021

Konya Journal of Engineering Sciences

View full text Add to dashboard Cite

Logistics operations are among the main activities in industrial production areas. Today, vehicles that are usually electric and manually operated by a driver are used to perform these operations. Logistics robots are an important alternative that can be used in this field, and their use in integration with cyber physical systems in industrial fields is increasingly common. The biggest advantage of the logistics robots is that they provide autonomous driving capabilities and optimum parameters for the entire system in accordance with industry 4.0 concept. In this study, an adaptive logistics robot system that can be integrated into the Cyber Physical System (CPS) system in an environment with cyber physical system infrastructure has been developed. In this context, positioning, path planning, multi-task allocation, energy management, task prioritization, optimization and obstacle avoidance issues are analyzed and simple solutions are proposed. The experiments have been carried out in eight different configurations and the average distance and energy costs have been improved by 5.1% and 6.6%, respectively.

show abstract

“…At the same time, simulation tools, such as Simulation Programs with Integrated Circuit Emphasis (or SPICE-based electronic circuit simulators), can quickly solve such problems, but the solid-state component must be represented as an equivalent electrical circuit. The models based on the Bond graphs have similar capabilities, but the software for such models (for example, MODELICA [ 16 , 17 ]) is still evolving.…”

Section: Introductionmentioning

confidence: 99%

“…Additionally, these simulators allow circuit noise analysis in the frequency domain [ 28 ]. This feature is an advantage of the SPICE-based simulators for this specific application over other multiphysics simulation software for systems with lumped parameters, such as MODELICA [ 16 , 17 ]. Moreover, the resistors and semiconductor device models include different white (thermal) and combined (flicker + shot) noise sources ready for noise spectrum density analysis.…”

Section: Introductionmentioning

confidence: 99%

Static, Dynamic, and Signal-to-Noise Analysis of a Solid-State Magnetoelectric (Me) Sensor with a Spice-Based Circuit Simulator

Sindler

Lineykin

2022

Sensors

View full text Add to dashboard Cite

Modeling the non-electrical processes by equivalent electrical circuits is a widely known and successfully used technique in research and development. Although finite element methods software development has supplanted electrical analogy techniques due to greater accuracy and intuitiveness in recent decades, the modeling of physical processes based on analogies has several advantages in some cases. Representation of physical processes in the form of lumped circuits and graphs allows researchers to estimate the system with an alternative view, use standardized methods for solving electrical circuits for non-electrical systems, and, most importantly, allows us to use electrical circuit simulators with their unique capabilities. Of particular interest for using the analogy technique are systems that include electronic components along with components belonging to other physical domains, such as mechanical, thermal, magnetic, and others. A solid-state magnetoelectric (МЕ) sensor equipped with a charge amplifier is proposed in this study as an example of analysis using the equivalent electrical circuit and simulating these circuits using SPICE-based circuit simulators. Sensor analysis is conducted with an emphasis on noise budgeting and optimizing the sensor’s signal-to-noise ratio and resolution. In addition, the steady state, the phasor, and transient types of analyses were employed to study the static and dynamic behavior of the system. Validation of the model using analytical calculations and comparison with experimental data demonstrated superior results.

show abstract

Design and verification of a mobile robot based on the integrated model of cyber-Physical systems

Cited by 12 publications

References 16 publications

Design of Secure Microcontroller-Based Systems: Application to Mobile Robots for Perimeter Monitoring

Design of Secure Microcontroller-Based Systems: Application to Mobile Robots for Perimeter Monitoring

Adaptive Operation Model for Interior Smart Logistics in Cyber Physical Systems

Static, Dynamic, and Signal-to-Noise Analysis of a Solid-State Magnetoelectric (Me) Sensor with a Spice-Based Circuit Simulator

Contact Info

Product

Resources

About