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Tesi etd-07302018-111523

Type of thesis
Dottorato
Author
PANNOCCHI, LUIGI
URN
etd-07302018-111523
Title
Handling the design complexity of Cyber-Physical Systems
Scientific disciplinary sector
ING-INF/05
Course
INGEGNERIA - Ph.D. Programme in Emerging Digital Technologies (EDT)
Committee
relatore Prof. BUTTAZZO, GIORGIO CARLO
Presidente DI NATALE, MARCO
Membro Prof. Lipari, Giuseppe
Membro Facchinetti, Tullio
Tutor MARINONI, MAURO
Keywords
  • control/scheduling co-design
  • cyber-physical systems
  • hardware-in-the-loop
  • multi-robot
  • simulation
Exam session start date
;
Availability
parziale
Abstract
The objective of this thesis is to provide instruments useful to tackle the development of Cyber-Physical Systems (CPSs).Particularly attention will be given to the interaction between control algorithm and their implementation, that is, &#34;Control/Scheduling Co-Design&#34; and to the development of a testing tool for such systems.<br><br>One of the research topics addressed in this work is the problem of how the scheduling of the control task could affect the performance of the whole system.<br>The real-time research branch deals with scheduling and implementation problems, whilst the control research branch deals with control algorithms and their performance.<br>These two worlds are now getting closer as the concept of &#34;Cyber-Physical&#34; systems pervades in the common engineering knowledge. <br>Starting with linear systems, a modeling approach has been carried out to blend the two aspects and a performance index has been proposed to give insight on the system functioning. <br><br>Another part of the thesis deals with the design of a simulation environment for autonomous vehicles.<br>The high complexity of CPSs makes difficult to tackle everything by theoretical analysis and the deployment on a simulated plant is necessary to get confidence about the proper functioning of the system.<br>The design of the simulation environment addressed the lack of complete suites for system simulation, integrating different aspects, such as multi-agent scenarios, a realistic virtual environment and hardware-in-the-loop capabilities.<br>
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