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Automation, Volume 3, Issue 4 (December 2022) – 7 articles

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28 pages, 15135 KiB  
Article
Control of PMSM Based on Switched Systems and Field-Oriented Control Strategy
by Marcel Nicola, Claudiu-Ionel Nicola, Dan Selișteanu and Cosmin Ionete
Automation 2022, 3(4), 646-673; https://doi.org/10.3390/automation3040033 - 10 Dec 2022
Cited by 2 | Viewed by 2319
Abstract
Starting from the problem of studying the parametric robustness in the case of the control of a permanent magnet-synchronous motor (PMSM), although robust control systems correspond entirely to this problem, due to the complexity of the algorithms of the robust type, in this [...] Read more.
Starting from the problem of studying the parametric robustness in the case of the control of a permanent magnet-synchronous motor (PMSM), although robust control systems correspond entirely to this problem, due to the complexity of the algorithms of the robust type, in this article the use of switched systems theory is proposed as a study option, given the fact that these types of systems are suitable both for the study of systems with variable structure and for systems with significant parametric variation under conditions of lower complexity of the control algorithms. The study begins by linearizing a PMSM model at a static operating point and continues with a systematic presentation of the basic elements and concepts concerning the stability of switched systems by applying these concepts to the control system of a PMSM based on the field-oriented control (FOC) strategy, which usually changes the value of its parameters during operation (stator resistance Rs, stator inductances Ld and Lq, but also combined inertia of PMSM rotor and load J). The numerical simulations performed in Simulink validate the fact that, for parametric variations of the PMSM structure, the PMSM control switched systems preserve qualitative performance in terms of its control. A series of Matlab programs are presented based on the YALMIP toolbox to obtain Pi matrices, by solving Lyapunov–Metzler type inequalities, and using dwell time to demonstrate stability, as well as the qualitative study of the performance of PMSM control switched systems by presenting in phase plane and state space analysis of the evolution of state vectors: ω PMSM rotor speed, iq current, and id current. Full article
(This article belongs to the Special Issue Dynamics and Intelligent Control of Complex and Switched Systems)
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13 pages, 14581 KiB  
Article
Fast and Precise Generic Model for Position-Based Trajectory Prediction of Inland Waterway Vessels
by Navreet S. Thind, Justus Hering and Dirk Söffker
Automation 2022, 3(4), 633-645; https://doi.org/10.3390/automation3040032 - 30 Nov 2022
Viewed by 1910
Abstract
Vessel motion simulation as well as model-based accurate trajectory prediction of vessels require accurate models with respect to related dynamic properties. The ability to predict vessel’s trajectory behaviors will become relevant in the case of future autonomous navigation of vessels to predict the [...] Read more.
Vessel motion simulation as well as model-based accurate trajectory prediction of vessels require accurate models with respect to related dynamic properties. The ability to predict vessel’s trajectory behaviors will become relevant in the case of future autonomous navigation of vessels to predict the behavior of others. The definition of models or parameters can be realized via first principles or by using experimental modeling methods leading to a time invariant or variant model. Existing hydrodynamical modeling approaches are based on mathematical approaches, which use parameters like mass, hydrodynamic forces, wind velocity, depth under the keel, loading parameters, etc. So, determining a dynamic vessel’s model is a complex task, since the model is vessel-specific. For collision avoidance of autonomous or assisted vessels, the trajectory prediction of encountering other vessels is especially required. It is not possible to use complex hydrodynamical models of encountering vessels online due to missing required information/measurements. Even existing deep learning approaches provide better predictions, but are still insufficient for collision avoidance in the case of strong dynamical changes, since the considered input sequences are long. Due to long input sequences, the model does not adapt to strong dynamical changes. In this work, a simple parameter-based approach is developed to predict the intended behavior using the last seconds of the measured position variables. The idea is to globally identify the model parameters of the vessel, which remains constant for the situation, and additionally two parameters for local adaptation, which adapt at every updated input sequence. Typically parameters like rudder angle, wind velocities, and water current affect the behavior of vessels. The introduced approach works with a sliding window approach for which, after identification of the global system, local values are identified based on the last 80 measurements of the vessels. A trajectory prediction (assuming no additional rudder-based maneuvering) is realized for the prediction horizon of 180 s. To confirm the robustness of the new approach, real AIS/GPS-based measurements from a German research inland vessel for different scenarios and sailing conditions including ‘loaded’ and ‘empty’ sailing cases are used. Furthermore, additional results are shown for position data information of different sample rates. Full article
(This article belongs to the Special Issue Anniversary Feature Papers-2022)
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11 pages, 19911 KiB  
Article
Detection of Hand Poses with a Single-Channel Optical Fiber Force Myography Sensor: A Proof-of-Concept Study
by Matheus K. Gomes, Willian H. A. da Silva, Antonio Ribas Neto, Julio Fajardo, Eric Rohmer and Eric Fujiwara
Automation 2022, 3(4), 622-632; https://doi.org/10.3390/automation3040031 - 18 Nov 2022
Viewed by 1960
Abstract
Force myography (FMG) detects hand gestures based on muscular contractions, featuring as an alternative to surface electromyography. However, typical FMG systems rely on spatially-distributed arrays of force-sensing resistors to resolve ambiguities. The aim of this proof-of-concept study is to develop a method for [...] Read more.
Force myography (FMG) detects hand gestures based on muscular contractions, featuring as an alternative to surface electromyography. However, typical FMG systems rely on spatially-distributed arrays of force-sensing resistors to resolve ambiguities. The aim of this proof-of-concept study is to develop a method for identifying hand poses from the static and dynamic components of FMG waveforms based on a compact, single-channel optical fiber sensor. As the user performs a gesture, a micro-bending transducer positioned on the belly of the forearm muscles registers the dynamic optical signals resulting from the exerted forces. A Raspberry Pi 3 minicomputer performs data acquisition and processing. Then, convolutional neural networks correlate the FMG waveforms with the target postures, yielding a classification accuracy of (93.98 ± 1.54)% for eight postures, based on the interrogation of a single fiber transducer. Full article
(This article belongs to the Special Issue Anniversary Feature Papers-2022)
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26 pages, 1282 KiB  
Review
A Flashback on Control Logic Injection Attacks against Programmable Logic Controllers
by Wael Alsabbagh and Peter Langendörfer
Automation 2022, 3(4), 596-621; https://doi.org/10.3390/automation3040030 - 11 Nov 2022
Cited by 4 | Viewed by 2428
Abstract
Programmable logic controllers (PLCs) make up a substantial part of critical infrastructures (CIs) and industrial control systems (ICSs). They are programmed with a control logic that defines how to drive and operate critical processes such as nuclear power plants, petrochemical factories, water treatment [...] Read more.
Programmable logic controllers (PLCs) make up a substantial part of critical infrastructures (CIs) and industrial control systems (ICSs). They are programmed with a control logic that defines how to drive and operate critical processes such as nuclear power plants, petrochemical factories, water treatment systems, and other facilities. Unfortunately, these devices are not fully secure and are prone to malicious threats, especially those exploiting vulnerabilities in the control logic of PLCs. Such threats are known as control logic injection attacks. They mainly aim at sabotaging physical processes controlled by exposed PLCs, causing catastrophic damage to target systems as shown by Stuxnet. Looking back over the last decade, many research endeavors exploring and discussing these threats have been published. In this article, we present a flashback on the recent works related to control logic injection attacks against PLCs. To this end, we provide the security research community with a new systematization based on the attacker techniques under three main attack scenarios. For each study presented in this work, we overview the attack strategies, tools, security goals, infected devices, and underlying vulnerabilities. Based on our analysis, we highlight the current security challenges in protecting PLCs from such severe attacks and suggest security recommendations for future research directions. Full article
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17 pages, 7640 KiB  
Article
Development of Smart Home Applications Based on Arduino and Android Platforms: An Experimental Work
by Abdel-Nasser Sharkawy, Mahmoud Hasanin, Mohamed Sharf, Mahmoud Mohamed and Ahmed Elsheikh
Automation 2022, 3(4), 579-595; https://doi.org/10.3390/automation3040029 - 10 Oct 2022
Cited by 4 | Viewed by 10251
Abstract
The ideal smart home could be automatically controlled using a variety of electronic tools and devices to perform everyday tasks. Smart home automation is crucially beneficial for human life, particularly when considering those with disabilities, inpatients, and elderly populations. In this paper, applications [...] Read more.
The ideal smart home could be automatically controlled using a variety of electronic tools and devices to perform everyday tasks. Smart home automation is crucially beneficial for human life, particularly when considering those with disabilities, inpatients, and elderly populations. In this paper, applications and systems for smart homes are investigated. During experimentation they were controlled via an Android mobile phone and the Arduino platform. Bluetooth Module HC-06 was used to connect the Arduino Uno R3 with the mobile phone. Five smart home applications were developed to control the lighting and electrical sockets, fan speed, temperature- and humidity-meter display/controls, as well as the fire-alarm and toxic-gas alarm systems. Herein, the definition, the graphical user interface, the required main components, and the control circuit connections are prepared and presented for each application. The graphical user interface was created using the RemoteXY website, which is a reliable website for this purpose. The developed applications were tested, and they were found to work efficiently and correctly. Additionally, this innovative system is both cost-effective and affordable (total cost at the time of development was 110 USD). Full article
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16 pages, 10733 KiB  
Article
Retrieval of a 3D CAD Model of a Transformer Substation Based on Point Cloud Data
by Lijuan Long, Yonghua Xia, Minglong Yang, Bin Wang and Yirong Pan
Automation 2022, 3(4), 563-578; https://doi.org/10.3390/automation3040028 - 28 Sep 2022
Cited by 1 | Viewed by 2084
Abstract
When constructing a three-dimensional model of a transformer substation, it is critical to quickly find the 3D CAD model corresponding to the current point cloud data from a large number of transformer substation model libraries (due to the complexity and variety of models [...] Read more.
When constructing a three-dimensional model of a transformer substation, it is critical to quickly find the 3D CAD model corresponding to the current point cloud data from a large number of transformer substation model libraries (due to the complexity and variety of models in the model base). In response to this problem, this paper proposes a method to quickly retrieve a 3D CAD model. Firstly, a 3D CAD model that shares the same size as the current point cloud model bounding box is extracted from the model library by the double-layer bounding box screening method. Then, the selected 3D CAD model is finely compared with the point cloud model by the multi-view method. The 3D CAD model that has the highest degree of corresponding to the point cloud data is acquired. The proposed algorithm, compared to other similar methods, has the advantages of retrieval accuracy and high efficiency. Full article
(This article belongs to the Topic Smart Manufacturing and Industry 5.0)
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18 pages, 8652 KiB  
Article
Development of a Speed Control Device for Fishing Vessels at Low Speeds and Simulation of the Control System
by Haruhiro Shiraishi and Hajime Shiraishi
Automation 2022, 3(4), 545-562; https://doi.org/10.3390/automation3040027 - 24 Sep 2022
Viewed by 2771
Abstract
Trawling is one of the most common fishing methods used by small vessels. This method requires the vessel to operate at a constant low speed because the depth of the trawl must be kept constant. In addition, the operation is often conducted by [...] Read more.
Trawling is one of the most common fishing methods used by small vessels. This method requires the vessel to operate at a constant low speed because the depth of the trawl must be kept constant. In addition, the operation is often conducted by a small number of people, who must simultaneously maneuver the vessel and fish, making automation desirable. To develop this device, a mathematical model of the vessel was created based on data collected from actual operation of the vessel, and simulations were conducted to determine what type of control system would be suitable. As a result, it was possible to grasp effective control methods, effects of disturbances such as tides and waves, and how to deal with effective parts to improve response. Full article
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