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Description
As the complexity of robotic systems and applications grows rapidly, development of high-performance, easy to use, and fully integrated development environments for those systems is inevitable. Model-Based Design (MBD) of dynamic systems using engineering software such as Simulink® from MathWorks®, SciCos from Metalau team and SystemModeler® from Wolfram® is quite

As the complexity of robotic systems and applications grows rapidly, development of high-performance, easy to use, and fully integrated development environments for those systems is inevitable. Model-Based Design (MBD) of dynamic systems using engineering software such as Simulink® from MathWorks®, SciCos from Metalau team and SystemModeler® from Wolfram® is quite popular nowadays. They provide tools for modeling, simulation, verification and in some cases automatic code generation for desktop applications, embedded systems and robots. For real-world implementation of models on the actual hardware, those models should be converted into compilable machine code either manually or automatically. Due to the complexity of robotic systems, manual code translation from model to code is not a feasible optimal solution so we need to move towards automated code generation for such systems. MathWorks® offers code generation facilities called Coder® products for this purpose. However in order to fully exploit the power of model-based design and code generation tools for robotic applications, we need to enhance those software systems by adding and modifying toolboxes, files and other artifacts as well as developing guidelines and procedures. In this thesis, an effort has been made to propose a guideline as well as a Simulink® library, StateFlow® interface API and a C/C++ interface API to complete this toolchain for NAO humanoid robots. Thus the model of the hierarchical control architecture can be easily and properly converted to code and built for implementation.
ContributorsRaji Kermani, Ramtin (Author) / Fainekos, Georgios (Thesis advisor) / Lee, Yann-Hang (Committee member) / Sarjoughian, Hessam S. (Committee member) / Arizona State University (Publisher)
Created2013
Description
This thesis introduces the Model-Based Development of Multi-iRobot Toolbox (MBDMIRT), a Simulink-based toolbox designed to provide the means to acquire and practice the Model-Based Development (MBD) skills necessary to design real-time embedded system. The toolbox was developed in the Cyber-Physical System Laboratory at Arizona State University. The MBDMIRT toolbox runs

This thesis introduces the Model-Based Development of Multi-iRobot Toolbox (MBDMIRT), a Simulink-based toolbox designed to provide the means to acquire and practice the Model-Based Development (MBD) skills necessary to design real-time embedded system. The toolbox was developed in the Cyber-Physical System Laboratory at Arizona State University. The MBDMIRT toolbox runs under MATLAB/Simulink to simulate the movements of multiple iRobots and to control, after verification by simulation, multiple physical iRobots accordingly. It adopts the Simulink/Stateflow, which exemplifies an approach to MBD, to program the behaviors of the iRobots. The MBDMIRT toolbox reuses and augments the open-source MATLAB-Based Simulator for the iRobot Create from Cornell University to run the simulation. Regarding the mechanism of iRobot control, the MBDMIRT toolbox applies the MATLAB Toolbox for the iRobot Create (MTIC) from United States Naval Academy to command the physical iRobots. The MBDMIRT toolbox supports a timer in both the simulation and the control, which is based on the local clock of the PC running the toolbox. In addition to the build-in sensors of an iRobot, the toolbox can simulate four user-added sensors, which are overhead localization system (OLS), sonar sensors, a camera, and Light Detection And Ranging (LIDAR). While controlling a physical iRobot, the toolbox supports the StarGazer OLS manufactured by HAGISONIC, Inc.
ContributorsSu, Shih-Kai (Author) / Fainekos, Georgios E (Thesis advisor) / Sarjoughian, Hessam S. (Committee member) / Artemiadis, Panagiotis K (Committee member) / Arizona State University (Publisher)
Created2012
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Description
Cyber-Physical Systems (CPS) are being used in many safety-critical applications. Due to the important role in virtually every aspect of human life, it is crucial to make sure that a CPS works properly before its deployment. However, formal verification of CPS is a computationally hard problem. Therefore, lightweight verification methods

Cyber-Physical Systems (CPS) are being used in many safety-critical applications. Due to the important role in virtually every aspect of human life, it is crucial to make sure that a CPS works properly before its deployment. However, formal verification of CPS is a computationally hard problem. Therefore, lightweight verification methods such as testing and monitoring of the CPS are considered in the industry. The formal representation of the CPS requirements is a challenging task. In addition, checking the system outputs with respect to requirements is a computationally complex problem. In this dissertation, these problems for the verification of CPS are addressed. The first method provides a formal requirement analysis framework which can find logical issues in the requirements and help engineers to correct the requirements. Also, a method is provided to detect tests which vacuously satisfy the requirement because of the requirement structure. This method is used to improve the test generation framework for CPS. Finally, two runtime verification algorithms are developed for off-line/on-line monitoring with respect to real-time requirements. These monitoring algorithms are computationally efficient, and they can be used in practical applications for monitoring CPS with low runtime overhead.
ContributorsDokhanchi, Adel (Author) / Fainekos, Georgios (Thesis advisor) / Lee, Yann-Hang (Committee member) / Sarjoughian, Hessam S. (Committee member) / Shrivastava, Aviral (Committee member) / Arizona State University (Publisher)
Created2017
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Description
Multi-tenancy architecture (MTA) is often used in Software-as-a-Service (SaaS) and

the central idea is that multiple tenant applications can be developed using compo

nents stored in the SaaS infrastructure. Recently, MTA has been extended where

a tenant application can have its own sub-tenants as the tenant application acts

like a SaaS infrastructure. In other

Multi-tenancy architecture (MTA) is often used in Software-as-a-Service (SaaS) and

the central idea is that multiple tenant applications can be developed using compo

nents stored in the SaaS infrastructure. Recently, MTA has been extended where

a tenant application can have its own sub-tenants as the tenant application acts

like a SaaS infrastructure. In other words, MTA is extended to STA (Sub-Tenancy

Architecture ). In STA, each tenant application not only need to develop its own

functionalities, but also need to prepare an infrastructure to allow its sub-tenants to

develop customized applications. This dissertation formulates eight models for STA,

and proposes a Variant Point based customization model to help tenants and sub

tenants customize tenant and sub-tenant applications. In addition, this dissertation

introduces Crowd- sourcing to become the core of STA component development life

cycle. To discover fit tenant developers or components to help building and com

posing new components, dynamic and static ranking models are proposed. Further,

rank computation architecture is presented to deal with the case when the number of

tenants and components becomes huge. At last, an experiment is performed to prove

rank models and the rank computation architecture work as design.
ContributorsZhong, Peide (Author) / Davulcu, Hasan (Thesis advisor) / Sarjoughian, Hessam S. (Committee member) / Huang, Dijiang (Committee member) / Tsai, Wei-Tek (Committee member) / Arizona State University (Publisher)
Created2017
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Description
Software-as-a-Service (SaaS) has received significant attention in recent years as major computer companies such as Google, Microsoft, Amazon, and Salesforce are adopting this new approach to develop software and systems. Cloud computing is a computing infrastructure to enable rapid delivery of computing resources as a utility in a dynamic, scalable,

Software-as-a-Service (SaaS) has received significant attention in recent years as major computer companies such as Google, Microsoft, Amazon, and Salesforce are adopting this new approach to develop software and systems. Cloud computing is a computing infrastructure to enable rapid delivery of computing resources as a utility in a dynamic, scalable, and virtualized manner. Computer Simulations are widely utilized to analyze the behaviors of software and test them before fully implementations. Simulation can further benefit SaaS application in a cost-effective way taking the advantages of cloud such as customizability, configurability and multi-tendency.

This research introduces Modeling, Simulation and Analysis for Software-as-Service in Cloud. The researches cover the following topics: service modeling, policy specification, code generation, dynamic simulation, timing, event and log analysis. Moreover, the framework integrates current advantages of cloud: configurability, Multi-Tenancy, scalability and recoverability.

The following chapters are provided in the architecture:

Multi-Tenancy Simulation Software-as-a-Service.

Policy Specification for MTA simulation environment.

Model Driven PaaS Based SaaS modeling.

Dynamic analysis and dynamic calibration for timing analysis.

Event-driven Service-Oriented Simulation Framework.

LTBD: A Triage Solution for SaaS.
ContributorsLi, Wu (Author) / Tsai, Wei-Tek (Thesis advisor) / Sarjoughian, Hessam S. (Committee member) / Ye, Jieping (Committee member) / Xue, Guoliang (Committee member) / Arizona State University (Publisher)
Created2015