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138 results on '"Ciarletta, Laurent"'

1. Towards a New Paradigm of UAV Safety

Author

Afman, Juan-Pablo, Ciarletta, Laurent, Feron, Eric, Franklin, John, Gurriet, Thomas, and Johnson, Eric N.

Subjects
Computer Science - Robotics
Abstract

With the rising popularity of UAVs in the civilian world, we are currently witnessing and paradim shift in terms of operational safety of flying vehicles. Safe and ubiquitous human-system interaction shall remain the core requirement but those prescribed in general aviation are not adapted for UAVs. Yet we believe it is possible to leverage the specific aspects of unmanned aviation to meet acceptable safety requirements. We start this paper with by discussing the new operational context of civilian UAVs and investigate the meaning of safety in light of this new context. Next, we explore the different approaches to ensuring system safety from an avionics point of view. Subsets of operational requirements such as geofencing or mechanical systems for termination or impact limitation can easily be implemented. These are presented with the goal of limiting the collateral damages of a system failure. We then present some experimental results regarding two of the major problems with UAVs. With actual impacts, we demonstrate how dangerous uncontrolled crashes can be. Furthermore, with the large number of runaway drone experiences during civilian operations, the risk is even higher as they can travel a long way before crashing. We provide data on such a case where the software controller is working, keeping the UAV in the air, but the operator is unable to actually control the system. It should be terminated! Finally, after having analyzed the context and some actual solutions, based on a minimal set of requirement and our own experience, we are proposing a simple mechanical based safety system. It unequivocally terminates the flight in the most efficient way by instantly removing parts of the propellers leaving a minimal lifting surface. It takes advantage of what controllability may remain but with a deterministic ending: a definite landing., Comment: 10 pages

Published
2018

2. A Mission Definition, Verification and Validation Architecture

Author

Viard, Louis, Ciarletta, Laurent, Moreau, Pierre-Etienne, Goos, Gerhard, Founding Editor, Hartmanis, Juris, Founding Editor, Bertino, Elisa, Editorial Board Member, Gao, Wen, Editorial Board Member, Steffen, Bernhard, Editorial Board Member, Woeginger, Gerhard, Editorial Board Member, Yung, Moti, Editorial Board Member, Sekerinski, Emil, editor, Moreira, Nelma, editor, Oliveira, José N., editor, Ratiu, Daniel, editor, Guidotti, Riccardo, editor, Farrell, Marie, editor, Luckcuck, Matt, editor, Marmsoler, Diego, editor, Campos, José, editor, Astarte, Troy, editor, Gonnord, Laure, editor, Cerone, Antonio, editor, Couto, Luis, editor, Dongol, Brijesh, editor, Kutrib, Martin, editor, Monteiro, Pedro, editor, and Delmas, David, editor

Published
2020
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4. Designing Co-simulation with Multi-agent Tools: A Case Study with NetLogo

Author

Paris, Thomas, Ciarletta, Laurent, Chevrier, Vincent, Hutchison, David, Series Editor, Kanade, Takeo, Series Editor, Kittler, Josef, Series Editor, Kleinberg, Jon M., Series Editor, Mattern, Friedemann, Series Editor, Mitchell, John C., Series Editor, Naor, Moni, Series Editor, Pandu Rangan, C., Series Editor, Steffen, Bernhard, Series Editor, Terzopoulos, Demetri, Series Editor, Tygar, Doug, Series Editor, Weikum, Gerhard, Series Editor, Belardinelli, Francesco, editor, and Argente, Estefanía, editor

Published
2018
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8. Smart Grids Simulation with MECSYCO

Author

Vaubourg, Julien, Presse, Yannick, Camus, Benjamin, Bourjot, Christine, Ciarletta, Laurent, Chevrier, Vincent, Tavella, Jean-Philippe, Morais, Hugo, Deneuville, Boris, Chilard, Olivier, Goebel, Randy, Series editor, Tanaka, Yuzuru, Series editor, Wahlster, Wolfgang, Series editor, Demazeau, Yves, editor, Decker, Keith S., editor, Bajo Pérez, Javier, editor, and de la Prieta, Fernando, editor

Published
2015
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9. Multi-agent Multi-Model Simulation of Smart Grids in the MS4SG Project

Author

Vaubourg, Julien, Presse, Yannick, Camus, Benjamin, Bourjot, Christine, Ciarletta, Laurent, Chevrier, Vincent, Tavella, Jean-Philippe, Morais, Hugo, Goebel, Randy, Series editor, Tanaka, Yuzuru, Series editor, Wahlster, Wolfgang, Series editor, Demazeau, Yves, editor, Decker, Keith S., editor, Bajo Pérez, Javier, editor, and de la Prieta, Fernando, editor

Published
2015
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11. HMAS: enabling seamless collaboration between drones, quadruped robots, and human operators with efficient spatial awareness

Author

Saint-Jore, Amaury, Song, Ye-Qiong, Ciarletta, Laurent, Saint-Jore, Amaury, Song, Ye-Qiong, and Ciarletta, Laurent

Abstract

Heterogeneous robots equipped with multi-modal sensors (e.g., UAV, wheeled and legged terrestrial robots) provide rich and complementary functions that may help human operators to accomplish complex tasks in unknown environments. However, seamlessly integrating heterogeneous agents and making them interact and collaborate still arise challenging issues. In this paper, we define a ROS 2 based software architecture that allows to build incarnated heterogeneous multi-agent systems (HMAS) in a generic way. We showcase its effectiveness through a scenario integrating aerial drones, quadruped robots, and human operators (see https://youtu.be/iOtCCticGuk). In addition, agent spatial awareness in unknown outdoor environments is a critical step for realizing autonomous individual movements, interactions, and collaborations. Through intensive experimental measurements, RTK-GPS is shown to be a suitable solution for achieving the required locating accuracy.

Published
2023

12. A Control Architecture of Complex Systems Based on Multi-agent Models

Author

Gutiérrez, Tomás Navarrete, Ciarletta, Laurent, Chevrier, Vincent, Hutchison, David, editor, Kanade, Takeo, editor, Kittler, Josef, editor, Kleinberg, Jon M., editor, Kobsa, Alfred, editor, Mattern, Friedemann, editor, Mitchell, John C., editor, Naor, Moni, editor, Nierstrasz, Oscar, editor, Pandu Rangan, C., editor, Steffen, Bernhard, editor, Terzopoulos, Demetri, editor, Tygar, Doug, editor, Weikum, Gerhard, editor, Goebel, Randy, editor, Tanaka, Yuzuru, editor, Wahlster, Wolfgang, editor, Siekmann, Jörg, editor, Demazeau, Yves, editor, Zambonelli, Franco, editor, Corchado, Juan M., editor, and Bajo, Javier, editor

Published
2014
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14. Multi-modeling and Co-simulation-Based Mobile Ubiquitous Protocols and Services Development and Assessment

Author

Leclerc, Tom, Siebert, Julien, Chevrier, Vincent, Ciarletta, Laurent, Festor, Olivier, Akan, Ozgur, Series editor, Bellavista, Paolo, Series editor, Cao, Jiannong, Series editor, Dressler, Falko, Series editor, Ferrari, Domenico, Series editor, Gerla, Mario, Series editor, Kobayashi, Hisashi, Series editor, Palazzo, Sergio, Series editor, Sahni, Sartaj, Series editor, Shen, Xuemin (Sherman), Series editor, Stan, Mircea, Series editor, Xiaohua, Jia, Series editor, Zomaya, Albert, Series editor, Coulson, Geoffrey, Series editor, Sénac, Patrick, editor, Ott, Max, editor, and Seneviratne, Aruna, editor

Published
2012
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15. Event-triggered leader-following formation control for multi-agent systems under communication faults: Application to a fleet of unmanned aerial vehicles

Author

Guenard Adrien, Vazquez Trejo Juan Antonio, Ciarletta Laurent, Rotondo Damiano, Adam-Medina Manuel, Ponsart Jean-Christophe, Theilliol Didier, Centre de Recherche en Automatique de Nancy (CRAN), Université de Lorraine (UL)-Centre National de la Recherche Scientifique (CNRS), Centro Nacional de Investigación y Desarrollo Tecnológico [Mexico] (CENIDET), Tecnológico Nacional de México (TecNM), SIMulating and Building IOT (SIMBIOT), Department of Networks, Systems and Services (LORIA - NSS), Laboratoire Lorrain de Recherche en Informatique et ses Applications (LORIA), Institut National de Recherche en Informatique et en Automatique (Inria)-Université de Lorraine (UL)-Centre National de la Recherche Scientifique (CNRS)-Institut National de Recherche en Informatique et en Automatique (Inria)-Université de Lorraine (UL)-Centre National de la Recherche Scientifique (CNRS)-Laboratoire Lorrain de Recherche en Informatique et ses Applications (LORIA), Institut National de Recherche en Informatique et en Automatique (Inria)-Université de Lorraine (UL)-Centre National de la Recherche Scientifique (CNRS)-Institut National de Recherche en Informatique et en Automatique (Inria)-Université de Lorraine (UL)-Centre National de la Recherche Scientifique (CNRS), University of Stavanger, Service Informatique de Soutien à la Recherche (SISR), Centre National de la Recherche Scientifique (CNRS)-Université de Lorraine (UL), Institut National de Recherche en Informatique et en Automatique (Inria)-Université de Lorraine (UL)-Centre National de la Recherche Scientifique (CNRS), and Centro Nacional de Investigación y Desarrollo Tecnológico (CENIDET)

Subjects
communication fault, 0209 industrial biotechnology, leader-following consensus, Computer science, Control (management), Stability (learning theory), formation control, 02 engineering and technology, Leader following, event-triggered control, [SPI.AUTO]Engineering Sciences [physics]/Automatic, Technical cybernetics: 553 [VDP], ubemannede fly, 020901 industrial engineering & automation, unmanned aerial vehicle (UAV), Synchronization (computer science), feiltoleranse, event-triggered, Information exchange, experimental result, Multi-agent system, Control engineering, Teknisk kybernetikk: 553 [VDP], Unmanned Aerial Vehicle, Energy consumption, fault tolerance, Performance improvement
Abstract

International audience; The main contribution of this paper is the design of an event-triggered formation control for leader-following consensus in second-order multi-agent systems (MASs) under communication faults. All the agents must follow the trajectories of a virtual leader despite communication faults considered as smooth time-varying delays dependent on the distance between the agents. Linear matrix inequalities (LMIs)-based conditions are obtained to synthesize a controller gain that guarantees stability of the synchronization error. Based on the closed-loop system, an event-triggered mechanism is designed to reduce the control law update and information exchange in order to reduce energy consumption. The proposed approach is implemented in a real platform of a fleet of unmanned aerial vehicles (UAVs) under communication faults. A comparison between a state-of-the-art technique and the proposed technique has been provided, demonstrating the performance improvement brought by the proposed approach.

Published
2021

16. Co-simulation and Multi-models for Pervasive Computing as a Complex System

Author

Ciarletta, Laurent P., Hutchison, David, Series editor, Kanade, Takeo, Series editor, Kittler, Josef, Series editor, Kleinberg, Jon M., Series editor, Mattern, Friedemann, Series editor, Mitchell, John C., Series editor, Naor, Moni, Series editor, Nierstrasz, Oscar, Series editor, Pandu Rangan, C., Series editor, Steffen, Bernhard, Series editor, Sudan, Madhu, Series editor, Terzopoulos, Demetri, Series editor, Tygar, Doug, Series editor, Vardi, Moshe Y., Series editor, Weikum, Gerhard, Series editor, and Kurosu, Masaaki, editor

Published
2011
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17. A Stable Linked Structure Flooding for Mobile Ad Hoc Networks with Fault Recovery

Author

Leclerc, Tom, Ciarletta, Laurent, Schaff, André, Hutchison, David, editor, Kanade, Takeo, editor, Kittler, Josef, editor, Kleinberg, Jon M., editor, Mattern, Friedemann, editor, Mitchell, John C., editor, Naor, Moni, editor, Nierstrasz, Oscar, editor, Pandu Rangan, C., editor, Steffen, Bernhard, editor, Sudan, Madhu, editor, Terzopoulos, Demetri, editor, Tygar, Doug, editor, Vardi, Moshe Y., editor, Weikum, Gerhard, editor, Osipov, Evgeny, editor, Kassler, Andreas, editor, Bohnert, Thomas Michael, editor, and Masip-Bruin, Xavier, editor

Published
2010
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18. Entwined Influences of Users’ Behaviour and QoS: A Multi-model Approach

Author

Siebert, Julien, Chevrier, Vincent, Ciarletta, Laurent, Hutchison, David, Series editor, Kanade, Takeo, Series editor, Kittler, Josef, Series editor, Kleinberg, Jon M., Series editor, Mattern, Friedemann, Series editor, Mitchell, John C., Series editor, Naor, Moni, Series editor, Nierstrasz, Oscar, Series editor, Pandu Rangan, C., Series editor, Steffen, Bernhard, Series editor, Sudan, Madhu, Series editor, Terzopoulos, Demetri, Series editor, Tygar, Doug, Series editor, Vardi, Moshe Y., Series editor, Weikum, Gerhard, Series editor, Hausheer, David, editor, and Schönwälder, Jürgen, editor

Published
2008
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19. Automatic Configuration for VPN Using Active XML

Author

Ciarletta, Laurent, Choi, Mi-Jung, Hutchison, David, editor, Kanade, Takeo, editor, Kittler, Josef, editor, Kleinberg, Jon M., editor, Mattern, Friedemann, editor, Mitchell, John C., editor, Naor, Moni, editor, Nierstrasz, Oscar, editor, Pandu Rangan, C., editor, Steffen, Bernhard, editor, Sudan, Madhu, editor, Terzopoulos, Demetri, editor, Tygar, Dough, editor, Vardi, Moshe Y., editor, Weikum, Gerhard, editor, Magedanz, Thomas, editor, Madeira, Edmundo R. M., editor, and Dini, Petre, editor

Published
2005
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22. Procédé pour déterminer des positions optimisées d’un objet pour le suivi d’une trajectoiredans un environnement simulé

Author

Contassot-Vivier, Sylvain, Daugé, Virgile, Ciarletta, Laurent, Guenard, Adrien, SIMulating and Building IOT (SIMBIOT), Department of Networks, Systems and Services (LORIA - NSS), Laboratoire Lorrain de Recherche en Informatique et ses Applications (LORIA), Institut National de Recherche en Informatique et en Automatique (Inria)-Université de Lorraine (UL)-Centre National de la Recherche Scientifique (CNRS)-Institut National de Recherche en Informatique et en Automatique (Inria)-Université de Lorraine (UL)-Centre National de la Recherche Scientifique (CNRS)-Laboratoire Lorrain de Recherche en Informatique et ses Applications (LORIA), Institut National de Recherche en Informatique et en Automatique (Inria)-Université de Lorraine (UL)-Centre National de la Recherche Scientifique (CNRS)-Institut National de Recherche en Informatique et en Automatique (Inria)-Université de Lorraine (UL)-Centre National de la Recherche Scientifique (CNRS), Service Informatique de Soutien à la Recherche (SISR), and Contassot-Vivier, Sylvain

Subjects
mobile robots, [INFO.INFO-RB] Computer Science [cs]/Robotics [cs.RO], [INFO.INFO-DS]Computer Science [cs]/Data Structures and Algorithms [cs.DS], [INFO.INFO-DC] Computer Science [cs]/Distributed, Parallel, and Cluster Computing [cs.DC], [INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO], [INFO.INFO-DS] Computer Science [cs]/Data Structures and Algorithms [cs.DS], Trajecory tracking, [INFO.INFO-DC]Computer Science [cs]/Distributed, Parallel, and Cluster Computing [cs.DC]
Published
2021

23. Une approche de génération automatique de configuration basée sur les modèles pour les réseaux TSN

Author

Samson, Maxime, Vergnaud, Thomas, Dujardin, Éric, Ciarletta, Laurent, Song, Ye-Qiong, Thales Research and Technologies [Orsay] (TRT), THALES [France], SIMulating and Building IOT (SIMBIOT), Department of Networks, Systems and Services (LORIA - NSS), Laboratoire Lorrain de Recherche en Informatique et ses Applications (LORIA), Institut National de Recherche en Informatique et en Automatique (Inria)-Université de Lorraine (UL)-Centre National de la Recherche Scientifique (CNRS)-Institut National de Recherche en Informatique et en Automatique (Inria)-Université de Lorraine (UL)-Centre National de la Recherche Scientifique (CNRS)-Laboratoire Lorrain de Recherche en Informatique et ses Applications (LORIA), Institut National de Recherche en Informatique et en Automatique (Inria)-Université de Lorraine (UL)-Centre National de la Recherche Scientifique (CNRS)-Institut National de Recherche en Informatique et en Automatique (Inria)-Université de Lorraine (UL)-Centre National de la Recherche Scientifique (CNRS), and LIAS-ISAE/ENSMA

Subjects
[INFO.INFO-NI]Computer Science [cs]/Networking and Internet Architecture [cs.NI]
Abstract

National audience; Les nouvelles fonctionnalités qu'apportent les standards définis par le groupe de travail IEEE 802.1 TSNà la commutation Ethernet permettent son utilisation pour des réseaux temps réel. Ces nouvelles fonctionnalités rendent possible la conception de réseaux Ethernet déterministes, mais au prix d'un effort de configuration très important. Cette difficulté de configuration s'appliqueà la fois auxéquipements réseaux et aux outils utilisés pour concevoir ces réseaux, par exemple des simulateurs. Dans cet article, nous présentons une approche basée sur les modèles qui permet la génération automatique de la configuration d'un réseau TSN pour des outils tels que des simulateurs. Cette approche simplifie l'étape de configuration réseau et assure la cohérence entre les configurations générées pour les différentes cibles.

Published
2021

24. Smart Grids Simulation with MECSYCO

Author

Vaubourg, Julien, primary, Presse, Yannick, additional, Camus, Benjamin, additional, Bourjot, Christine, additional, Ciarletta, Laurent, additional, Chevrier, Vincent, additional, Tavella, Jean-Philippe, additional, Morais, Hugo, additional, Deneuville, Boris, additional, and Chilard, Olivier, additional

Published
2015
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30. NAPS: a Nomadic and Accurate Positioning System

Author

Daugé, Virgile, Contassot-Vivier, Sylvain, Ciarletta, Laurent, SIMulating and Building IOT (SIMBIOT), Department of Networks, Systems and Services (LORIA - NSS), Laboratoire Lorrain de Recherche en Informatique et ses Applications (LORIA), Institut National de Recherche en Informatique et en Automatique (Inria)-Université de Lorraine (UL)-Centre National de la Recherche Scientifique (CNRS)-Institut National de Recherche en Informatique et en Automatique (Inria)-Université de Lorraine (UL)-Centre National de la Recherche Scientifique (CNRS)-Laboratoire Lorrain de Recherche en Informatique et ses Applications (LORIA), Institut National de Recherche en Informatique et en Automatique (Inria)-Université de Lorraine (UL)-Centre National de la Recherche Scientifique (CNRS)-Institut National de Recherche en Informatique et en Automatique (Inria)-Université de Lorraine (UL)-Centre National de la Recherche Scientifique (CNRS), Creativ'Lab, and Contassot-Vivier, Sylvain

Subjects
[INFO.INFO-MC]Computer Science [cs]/Mobile Computing, [INFO.INFO-MC] Computer Science [cs]/Mobile Computing, [INFO.INFO-RB] Computer Science [cs]/Robotics [cs.RO], [INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO], [INFO.INFO-ES]Computer Science [cs]/Embedded Systems, [INFO.INFO-ES] Computer Science [cs]/Embedded Systems
Abstract

International audience; Providing accurate pose estimation over time in various and unknown environments is a key component to the realization of autonomous missions where an absolute positioning system (like GPS) is not available. A lot of work has been done in that field where Simultaneous Localization And Mapping systems (SLAM) are still highly environment-dependent and computationally expensive. However, a major issue in SLAM solutions is the drift that appears in their odometry, due to error accumulation in the successive pose estimates. This may imply significant errors in the environment reconstruction or mission success. In this paper, a Nomadic and Accurate Positioning System (NAPS), based on the collaboration of mobile robots and their mutual sensing, is proposed. The originality and advantage of our solution is to provide a motion capture system with the nomadic ability. The result is environment-independent, computationally efficient, accurate and mobile. The system follows one or several mobile robots (explorers) and provides accurate positioning all along their mission. The NAPS is described as well as its moving process, and its accuracy is confirmed through a series of experiments, validating the whole approach.

Published
2019

31. Co-simulation à base d'outils multi-agents : un cas d'étude avec NetLogo

Author

Paris, Thomas, Ciarletta, Laurent, Chevrier, Vincent, SIMulating and Building IOT (SIMBIOT), Department of Networks, Systems and Services (LORIA - NSS), Laboratoire Lorrain de Recherche en Informatique et ses Applications (LORIA), Institut National de Recherche en Informatique et en Automatique (Inria)-Université de Lorraine (UL)-Centre National de la Recherche Scientifique (CNRS)-Institut National de Recherche en Informatique et en Automatique (Inria)-Université de Lorraine (UL)-Centre National de la Recherche Scientifique (CNRS)-Laboratoire Lorrain de Recherche en Informatique et ses Applications (LORIA), Institut National de Recherche en Informatique et en Automatique (Inria)-Université de Lorraine (UL)-Centre National de la Recherche Scientifique (CNRS)-Institut National de Recherche en Informatique et en Automatique (Inria)-Université de Lorraine (UL)-Centre National de la Recherche Scientifique (CNRS), Management of dynamic networks and services (MADYNES), Inria Nancy - Grand Est, Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria)-Department of Networks, Systems and Services (LORIA - NSS), and Institut National de Recherche en Informatique et en Automatique (Inria)-Université de Lorraine (UL)-Centre National de la Recherche Scientifique (CNRS)-Université de Lorraine (UL)-Centre National de la Recherche Scientifique (CNRS)

Subjects
MECSYCO, Système complexe, [INFO.INFO-MA]Computer Science [cs]/Multiagent Systems [cs.MA], Système Multi-Agent, NetLogo, Co-simulation, [INFO.INFO-MO]Computer Science [cs]/Modeling and Simulation
Abstract

National audience; Multi-agent approach has demonstrated its benefits for complex system modeling and simulation. This article focuses on how to represent and simulate a system as a set of several interacting simulators, with a focus on the case of multi-agent simulators. This raises a major challenge: multi-agent simulators are not conceived (in general) to be used with other simulators.This article presents a preliminary study about the rigorous integration of multi-agent simulators into a co-simulation platform. The work is grounded on the NetLogo simulator and the co-simulation platform MECSYCO.; La simulation multi-agent a démontré son intérêt pour la simulation de systèmes complexes. Cet article aborde la question de savoir comment peut-on représenter un phénomène puis le simuler lorsque plusieurs simulateurs multi-agents sont nécessaires. Cela soulève un problème majeur : Les simulateurs multi-agents ne sont pas conçus (en général) pour être utilisés conjointement à d'autres simulateurs. Cet article présente une première réflexion sur l'intégration rigoureuse de simulateurs multi-agents dans une plateforme de co-simulation. Nous appuyons notre réflexion sur l'exemple du simulateur NetLogo et de la plateforme de co-simulation MECSYCO.

Published
2018

32. A component approach for DEVS

Author

Paris, Thomas, Ciarletta, Laurent, Chevrier, Vincent, SIMulating and Building IOT (SIMBIOT), Department of Networks, Systems and Services (LORIA - NSS), Laboratoire Lorrain de Recherche en Informatique et ses Applications (LORIA), Institut National de Recherche en Informatique et en Automatique (Inria)-Université de Lorraine (UL)-Centre National de la Recherche Scientifique (CNRS)-Institut National de Recherche en Informatique et en Automatique (Inria)-Université de Lorraine (UL)-Centre National de la Recherche Scientifique (CNRS)-Laboratoire Lorrain de Recherche en Informatique et ses Applications (LORIA), Institut National de Recherche en Informatique et en Automatique (Inria)-Université de Lorraine (UL)-Centre National de la Recherche Scientifique (CNRS)-Institut National de Recherche en Informatique et en Automatique (Inria)-Université de Lorraine (UL)-Centre National de la Recherche Scientifique (CNRS), Society for Computer Simulation International, PARIS, Thomas, Centre National de la Recherche Scientifique (CNRS)-Université de Lorraine (UL)-Institut National de Recherche en Informatique et en Automatique (Inria)-Centre National de la Recherche Scientifique (CNRS)-Université de Lorraine (UL)-Institut National de Recherche en Informatique et en Automatique (Inria)-Laboratoire Lorrain de Recherche en Informatique et ses Applications (LORIA), and Centre National de la Recherche Scientifique (CNRS)-Université de Lorraine (UL)-Institut National de Recherche en Informatique et en Automatique (Inria)-Centre National de la Recherche Scientifique (CNRS)-Université de Lorraine (UL)-Institut National de Recherche en Informatique et en Automatique (Inria)

Subjects
DEVS, [INFO.INFO-MO] Computer Science [cs]/Modeling and Simulation, Reuse, Co-simulation, [INFO.INFO-MO]Computer Science [cs]/Modeling and Simulation, Standardization
Abstract

International audience; In this article, we are interested in the reuse of models to allow the design of complex system multi-models. For instance, smart-grid modeling needs models from at least three domains (electrical grid, IP network, control system). Many existing M&S tools are already dedicated to the design of such models. Then, it would be profitable to be able to reuse the models written in these tools to design complex system multi-models. The FMI standard, based on the export and import of models as software components, supports the exchange of models and the co-simulation between ODE and DAE based M&S software. The success of the FMI standard leads us to study the interests of a similar approach based on the DEVS formalism.

Published
2018

33. Une approche composant pour DEVS

Author

Paris, Thomas, Ciarletta, Laurent, Chevrier, Vincent, SIMulating and Building IOT (SIMBIOT), Department of Networks, Systems and Services (LORIA - NSS), Laboratoire Lorrain de Recherche en Informatique et ses Applications (LORIA), Centre National de la Recherche Scientifique (CNRS)-Université de Lorraine (UL)-Institut National de Recherche en Informatique et en Automatique (Inria)-Centre National de la Recherche Scientifique (CNRS)-Université de Lorraine (UL)-Institut National de Recherche en Informatique et en Automatique (Inria)-Laboratoire Lorrain de Recherche en Informatique et ses Applications (LORIA), Centre National de la Recherche Scientifique (CNRS)-Université de Lorraine (UL)-Institut National de Recherche en Informatique et en Automatique (Inria)-Centre National de la Recherche Scientifique (CNRS)-Université de Lorraine (UL)-Institut National de Recherche en Informatique et en Automatique (Inria), Management of dynamic networks and services (MADYNES), Inria Nancy - Grand Est, Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria)-Department of Networks, Systems and Services (LORIA - NSS), Centre National de la Recherche Scientifique (CNRS)-Université de Lorraine (UL)-Institut National de Recherche en Informatique et en Automatique (Inria)-Centre National de la Recherche Scientifique (CNRS)-Université de Lorraine (UL), PARIS, Thomas, Institut National de Recherche en Informatique et en Automatique (Inria)-Université de Lorraine (UL)-Centre National de la Recherche Scientifique (CNRS)-Institut National de Recherche en Informatique et en Automatique (Inria)-Université de Lorraine (UL)-Centre National de la Recherche Scientifique (CNRS)-Laboratoire Lorrain de Recherche en Informatique et ses Applications (LORIA), Institut National de Recherche en Informatique et en Automatique (Inria)-Université de Lorraine (UL)-Centre National de la Recherche Scientifique (CNRS)-Institut National de Recherche en Informatique et en Automatique (Inria)-Université de Lorraine (UL)-Centre National de la Recherche Scientifique (CNRS), and Institut National de Recherche en Informatique et en Automatique (Inria)-Université de Lorraine (UL)-Centre National de la Recherche Scientifique (CNRS)-Université de Lorraine (UL)-Centre National de la Recherche Scientifique (CNRS)

Subjects
Réutilisation, DEVS, [INFO.INFO-MO] Computer Science [cs]/Modeling and Simulation, Standardisation, Co-simulation, [INFO.INFO-MO]Computer Science [cs]/Modeling and Simulation
Abstract

In this article, we are interested in the reuse of models to allow the design of complex system multimodels. For instance, smart-grid modeling needs at least models from three domains (electrical grid, IP network, control system). Many existing M\&S tools are already dedicated to the design of such models. Then, it would be profitable to be able to reuse the models written in these tools to design complex system multimodels.The FMI standard, based on the export and import of models as software components, allows the exchange of models and the co-simulation between ODE and DAE based M\&S software.The success of the FMI standard leads us to study the interests of a similar approach based on the DEVS formalism., Dans cet article, nous nous intéressons à la réutilisation de modèles pour permettre la conception de multi-modèles de systèmes complexes. Par exemple, la modélisation d'un réseau électrique intelligent nécessite des modèles de trois domaines différents (réseau électrique, télécommunication et système de contrôle). De nombreux outils de M\&S dédiés permettent déjà de développer ces types de modèle. Il serait donc intéressant de pouvoir réutiliser directement les modèles issus de ces logiciels dédiés pour concevoir des multi-modèles de systèmes complexes.La norme FMI, basée sur l'export et l'import de modèles sous forme de composants logiciels, permet aux outils basés sur les ODE et les DAE d'échanger des modèles et d'effectuer des co-simulations.Devant le succès de ce standard, nous proposons dans cet article quelques pistes de réflexion sur l'intérêt d'une démarche similaire utilisant le formalisme DEVS.

Published
2018

35. Development of a safe CPS component: the hybrid parachute, a remote termination add-on improving safety of UAS

Author

Ciarletta, Laurent, Fejoz, Loïc, Guenard, Adrien, Navet, Nicolas, SIMulating and Building IOT (SIMBIOT), Department of Networks, Systems and Services (LORIA - NSS), Laboratoire Lorrain de Recherche en Informatique et ses Applications (LORIA), Centre National de la Recherche Scientifique (CNRS)-Université de Lorraine (UL)-Institut National de Recherche en Informatique et en Automatique (Inria)-Centre National de la Recherche Scientifique (CNRS)-Université de Lorraine (UL)-Institut National de Recherche en Informatique et en Automatique (Inria)-Laboratoire Lorrain de Recherche en Informatique et ses Applications (LORIA), Centre National de la Recherche Scientifique (CNRS)-Université de Lorraine (UL)-Institut National de Recherche en Informatique et en Automatique (Inria)-Centre National de la Recherche Scientifique (CNRS)-Université de Lorraine (UL)-Institut National de Recherche en Informatique et en Automatique (Inria), Realtime-at-Work (RTaW), Computer Science and Communications Research Unit [Luxembourg] (CSC), Laboratory of Advanced Software SYstems [Luxembourg] (LASSY), Université du Luxembourg (Uni.lu)-Université du Luxembourg (Uni.lu), Ciarletta, Laurent, Institut National de Recherche en Informatique et en Automatique (Inria)-Université de Lorraine (UL)-Centre National de la Recherche Scientifique (CNRS)-Institut National de Recherche en Informatique et en Automatique (Inria)-Université de Lorraine (UL)-Centre National de la Recherche Scientifique (CNRS)-Laboratoire Lorrain de Recherche en Informatique et ses Applications (LORIA), and Institut National de Recherche en Informatique et en Automatique (Inria)-Université de Lorraine (UL)-Centre National de la Recherche Scientifique (CNRS)-Institut National de Recherche en Informatique et en Automatique (Inria)-Université de Lorraine (UL)-Centre National de la Recherche Scientifique (CNRS)

Subjects
safety, Computer science [C05] [Engineering, computing & technology], certification, [INFO.INFO-NI] Computer Science [cs]/Networking and Internet Architecture [cs.NI], hybrid, uav, model-based fault-injection, model-based design, programming language, Sciences informatiques [C05] [Ingénierie, informatique & technologie], [INFO.INFO-NI]Computer Science [cs]/Networking and Internet Architecture [cs.NI], unmanned aircraft systems, embedded systems, uas, parachute
Abstract

International audience; The use of Unmanned Aerial Systems (UAS) can be leveraged in many application domains ranging from agriculture to industry, opening up a wealth of new possibilities. However, UAS obviously raise important safety concerns and the use of the techniques, processes and standards developed for the aeronautic industry is not a feasible solution for most UAS. There is a need to bring in novel and pragmatic solutions to develop provably safe UAS in a time and cost-affordable manner. This paper reports on the development of a smart parachute which provides a safe-crash (termination) solution for UAS, one of the core safety requirements which can be complemented by other safety components in an incremental manner. The requirements elicitation phase, the design and partial verification of the termination system has been carried out using CPAL, a lightweight model-based design environment for embedded systems. The study illustrates on a specific requirement of the system how simulation and fault-injection on models can be used to provide evidence that the parachute system meets its design objectives.

Published
2016

36. Towards a Framework for Realizable Safety Critical Control through Active Set Invariance

Author

Gurriet, Thomas, Singletary, Andrew, Reher, Jacob, Ciarletta, Laurent, Feron, Eric, Ames, Aaron, Gurriet, Thomas, Singletary, Andrew, Reher, Jacob, Ciarletta, Laurent, Feron, Eric, and Ames, Aaron

Abstract

This paper presents initial results towards a realizable framework for the safety critical controlled invariance of cyber-physical systems. The main contribution of this paper is the development of a control barrier function based methodology which can be used to enforce set invariance on systems in the presence of non-linear disturbances and uncertainty. The first part of this work is a review of the current methods available for finding viable sets and how they are linked to practical choices regarding safety. Their limitations and directions towards improvements when it comes to handling model uncertainty are also highlighted. The second part of this work is the formulation of a condition which can guarantee set invariance in the presence of generic uncertain in the dynamics. An associated optimization problem to enforce that condition is proposed and a method to convexify the problem and make it solvable in real-time is formally presented. The effectiveness of the proposed framework is illustrated experimentally on a two-wheeled inverted pendulum.

Published
2018

37. Intégration d'un simulateur multi-agent dans une plateforme de co-simulation DEVS

Author

Paris, Thomas, Ciarletta, Laurent, Chevrier, Vincent, Laboratoire Lorrain de Recherche en Informatique et ses Applications (LORIA), Centre National de la Recherche Scientifique (CNRS)-Université de Lorraine (UL)-Institut National de Recherche en Informatique et en Automatique (Inria), Institut National de Recherche en Informatique et en Automatique (Inria)-Université de Lorraine (UL)-Centre National de la Recherche Scientifique (CNRS), SIMulating and Building IOT (SIMBIOT), Department of Networks, Systems and Services (LORIA - NSS), Institut National de Recherche en Informatique et en Automatique (Inria)-Université de Lorraine (UL)-Centre National de la Recherche Scientifique (CNRS)-Institut National de Recherche en Informatique et en Automatique (Inria)-Université de Lorraine (UL)-Centre National de la Recherche Scientifique (CNRS)-Laboratoire Lorrain de Recherche en Informatique et ses Applications (LORIA), and Institut National de Recherche en Informatique et en Automatique (Inria)-Université de Lorraine (UL)-Centre National de la Recherche Scientifique (CNRS)-Institut National de Recherche en Informatique et en Automatique (Inria)-Université de Lorraine (UL)-Centre National de la Recherche Scientifique (CNRS)

Subjects
[INFO.INFO-MA]Computer Science [cs]/Multiagent Systems [cs.MA], ComputingMilieux_MISCELLANEOUS
Abstract

National audience

Published
2017

38. NEMS Gyroscope

Author

Avrutov, V.V., Bouraou, N.I., Lakoza, L., Pavlovskyi, O.M., Henaff, Patrick, Ciarletta, Laurent, Aksonenko, Petro, National Technical University of Ukraine 'Kyiv Polytechnic Institute' [Kiev], Laboratoire Lorrain de Recherche en Informatique et ses Applications (LORIA), Institut National de Recherche en Informatique et en Automatique (Inria)-Université de Lorraine (UL)-Centre National de la Recherche Scientifique (CNRS), Analysis and modeling of neural systems by a system neuroscience approach (NEUROSYS), Inria Nancy - Grand Est, Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria)-Department of Complex Systems, Artificial Intelligence & Robotics (LORIA - AIS), Institut National de Recherche en Informatique et en Automatique (Inria)-Université de Lorraine (UL)-Centre National de la Recherche Scientifique (CNRS)-Institut National de Recherche en Informatique et en Automatique (Inria)-Université de Lorraine (UL)-Centre National de la Recherche Scientifique (CNRS)-Laboratoire Lorrain de Recherche en Informatique et ses Applications (LORIA), Institut National de Recherche en Informatique et en Automatique (Inria)-Université de Lorraine (UL)-Centre National de la Recherche Scientifique (CNRS)-Université de Lorraine (UL)-Centre National de la Recherche Scientifique (CNRS), Management of dynamic networks and services (MADYNES), and Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria)-Department of Networks, Systems and Services (LORIA - NSS)

Subjects
Nanowire, NEMS, Measurement, Angular rate, Gyroscope, [SPI.TRON]Engineering Sciences [physics]/Electronics
Abstract

International audience; Actually MEMS is a widely spread and well known term - Micro-Electro-Mechanical Systems. MEMS gyroscope is well known almost twenty years. For the time being NEMS is still a new term and it is meant Nano-Electro-Mechanical Systems. It is discussed NEMS gyroscope as a new angular rate sensor. It is suggested to use recently invented narrowest electrical wire, just three atoms wide or graphene nanoribbons as a new type of the angular rate sensor. The basic principle of the new device is similar to the Sagnac effect for the light speed. It is described the method of angular rate determination. The voltage difference between two wire coils with different line coupling can be expressed in applied rotation (angular) rate and velocity of electric current. The obtained scale factor depends on the magnitude of the current, number of the coil turns, the coil's radius, the cross-section area of the wire and specific (unit) resistance of the wire. The device can be produced from hybrid metal-organic chalcogenide nanowires or graphene nanoribbons. It is proposed any ways of sensor improvement.

Published
2017

39. Software-Defined Real-Time Mesh Networking: Protocol and Experimentation Method

Author

Greff, Florian, Song, Ye-Qiong, Samama, Arnaud, Ciarletta, Laurent, Thales Research and Technology [Palaiseau], THALES, Management of dynamic networks and services (MADYNES), Inria Nancy - Grand Est, Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria)-Department of Networks, Systems and Services (LORIA - NSS), Laboratoire Lorrain de Recherche en Informatique et ses Applications (LORIA), Centre National de la Recherche Scientifique (CNRS)-Université de Lorraine (UL)-Institut National de Recherche en Informatique et en Automatique (Inria)-Centre National de la Recherche Scientifique (CNRS)-Université de Lorraine (UL)-Institut National de Recherche en Informatique et en Automatique (Inria)-Laboratoire Lorrain de Recherche en Informatique et ses Applications (LORIA), Centre National de la Recherche Scientifique (CNRS)-Université de Lorraine (UL)-Institut National de Recherche en Informatique et en Automatique (Inria)-Centre National de la Recherche Scientifique (CNRS)-Université de Lorraine (UL), THALES [France], Institut National de Recherche en Informatique et en Automatique (Inria)-Université de Lorraine (UL)-Centre National de la Recherche Scientifique (CNRS)-Institut National de Recherche en Informatique et en Automatique (Inria)-Université de Lorraine (UL)-Centre National de la Recherche Scientifique (CNRS)-Laboratoire Lorrain de Recherche en Informatique et ses Applications (LORIA), and Institut National de Recherche en Informatique et en Automatique (Inria)-Université de Lorraine (UL)-Centre National de la Recherche Scientifique (CNRS)-Université de Lorraine (UL)-Centre National de la Recherche Scientifique (CNRS)

Subjects
SDN, [INFO.INFO-AR]Computer Science [cs]/Hardware Architecture [cs.AR], experimentation, [INFO.INFO-NI]Computer Science [cs]/Networking and Internet Architecture [cs.NI], mesh, network, [INFO.INFO-ES]Computer Science [cs]/Embedded Systems, [INFO.INFO-ET]Computer Science [cs]/Emerging Technologies [cs.ET], embedded, [INFO.INFO-DC]Computer Science [cs]/Distributed, Parallel, and Cluster Computing [cs.DC], [INFO.INFO-MO]Computer Science [cs]/Modeling and Simulation
Abstract

International audience; Our research address the problem of network resource allocation for real-time communications in mesh networks. We are studying the combination of online flow admission control and pathfinding algorithms in an SDN-like controller.We propose a Software-Defined Real-time Networking protocol that allows a dynamic and incremental allocation of network resource in a mixed-critical real-time m esh network context. We also propose a method to ensure the dependability of the network, considering that transmission errors and node failures can happen. Finally, our research includes the study of a new way of experimenting on embedded networks, by making use of both an in-silicon platform and a simulator. We designed an original framework to ease conducting such experiments.

Published
2017

40. Distributed path planning for controlling a fleet of UAVs : application to a team of quadrotors

Author

Belkadi, Adel, Abaunza, Hernan, Ciarletta, Laurent, Castillo Garcia, Pedro, Theilliol, Didier, Maquin, Didier, Réseau national de plateformes robotiques d'excellence - - ROBOTEX2010 - ANR-10-EQPX-0044 - EQPX - VALID, Centre de Recherche en Automatique de Nancy (CRAN), Université de Lorraine (UL)-Centre National de la Recherche Scientifique (CNRS), Heuristique et Diagnostic des Systèmes Complexes [Compiègne] (Heudiasyc), Université de Technologie de Compiègne (UTC)-Centre National de la Recherche Scientifique (CNRS), Management of dynamic networks and services (MADYNES), Department of Networks, Systems and Services (LORIA - NSS), Laboratoire Lorrain de Recherche en Informatique et ses Applications (LORIA), Institut National de Recherche en Informatique et en Automatique (Inria)-Université de Lorraine (UL)-Centre National de la Recherche Scientifique (CNRS)-Institut National de Recherche en Informatique et en Automatique (Inria)-Université de Lorraine (UL)-Centre National de la Recherche Scientifique (CNRS)-Laboratoire Lorrain de Recherche en Informatique et ses Applications (LORIA), Institut National de Recherche en Informatique et en Automatique (Inria)-Université de Lorraine (UL)-Centre National de la Recherche Scientifique (CNRS)-Institut National de Recherche en Informatique et en Automatique (Inria)-Université de Lorraine (UL)-Centre National de la Recherche Scientifique (CNRS)-Inria Nancy - Grand Est, Institut National de Recherche en Informatique et en Automatique (Inria), SIMulating and Building IOT (SIMBIOT), Institut National de Recherche en Informatique et en Automatique (Inria)-Université de Lorraine (UL)-Centre National de la Recherche Scientifique (CNRS)-Institut National de Recherche en Informatique et en Automatique (Inria)-Université de Lorraine (UL)-Centre National de la Recherche Scientifique (CNRS), ANR-10-EQPX-0044,ROBOTEX,Réseau national de plateformes robotiques d'excellence(2010), Inria Nancy - Grand Est, Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria)-Department of Networks, Systems and Services (LORIA - NSS), and Institut National de Recherche en Informatique et en Automatique (Inria)-Université de Lorraine (UL)-Centre National de la Recherche Scientifique (CNRS)-Université de Lorraine (UL)-Centre National de la Recherche Scientifique (CNRS)

Subjects
Autonomous robotic systems, [SPI.AUTO] Engineering Sciences [physics]/Automatic, Flying robots, ComputingMilieux_MISCELLANEOUS, [SPI.AUTO]Engineering Sciences [physics]/Automatic
Abstract

International audience

Published
2017

41. Wrapping DEVS de modèles IP dans MECSYCO pour la co-simulation de systèmes cyber-physiques

Author

Camus, Benjamin, Vaubourg, Julien, Paris, Thomas, Presse, Yannick, Bourjot, Christine, Ciarletta, Laurent, Chevrier, Vincent, Design and Implementation of Autonomous Distributed Systems (MYRIADS), Inria Rennes – Bretagne Atlantique, Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria)-SYSTÈMES LARGE ÉCHELLE (IRISA-D1), Institut de Recherche en Informatique et Systèmes Aléatoires (IRISA), Université de Rennes (UR)-Institut National des Sciences Appliquées - Rennes (INSA Rennes), Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Université de Bretagne Sud (UBS)-École normale supérieure - Rennes (ENS Rennes)-Institut National de Recherche en Informatique et en Automatique (Inria)-CentraleSupélec-Centre National de la Recherche Scientifique (CNRS)-IMT Atlantique (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT)-Université de Rennes (UR)-Institut National des Sciences Appliquées - Rennes (INSA Rennes), Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT)-Institut de Recherche en Informatique et Systèmes Aléatoires (IRISA), Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Université de Bretagne Sud (UBS)-École normale supérieure - Rennes (ENS Rennes)-CentraleSupélec-Centre National de la Recherche Scientifique (CNRS)-IMT Atlantique (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT), Management of dynamic networks and services (MADYNES), Inria Nancy - Grand Est, Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria)-Department of Networks, Systems and Services (LORIA - NSS), Laboratoire Lorrain de Recherche en Informatique et ses Applications (LORIA), Institut National de Recherche en Informatique et en Automatique (Inria)-Université de Lorraine (UL)-Centre National de la Recherche Scientifique (CNRS)-Institut National de Recherche en Informatique et en Automatique (Inria)-Université de Lorraine (UL)-Centre National de la Recherche Scientifique (CNRS)-Laboratoire Lorrain de Recherche en Informatique et ses Applications (LORIA), Institut National de Recherche en Informatique et en Automatique (Inria)-Université de Lorraine (UL)-Centre National de la Recherche Scientifique (CNRS)-Université de Lorraine (UL)-Centre National de la Recherche Scientifique (CNRS), SIMulating and Building IOT (SIMBIOT), Department of Networks, Systems and Services (LORIA - NSS), Institut National de Recherche en Informatique et en Automatique (Inria)-Université de Lorraine (UL)-Centre National de la Recherche Scientifique (CNRS)-Institut National de Recherche en Informatique et en Automatique (Inria)-Université de Lorraine (UL)-Centre National de la Recherche Scientifique (CNRS), Centre National de la Recherche Scientifique (CNRS)-Université de Lorraine (UL)-Institut National de Recherche en Informatique et en Automatique (Inria), Centre National de la Recherche Scientifique (CNRS)-Université de Lorraine (UL)-Institut National de Recherche en Informatique et en Automatique (Inria)-Centre National de la Recherche Scientifique (CNRS)-Université de Lorraine (UL)-Institut National de Recherche en Informatique et en Automatique (Inria)-Laboratoire Lorrain de Recherche en Informatique et ses Applications (LORIA), Centre National de la Recherche Scientifique (CNRS)-Université de Lorraine (UL)-Institut National de Recherche en Informatique et en Automatique (Inria)-Centre National de la Recherche Scientifique (CNRS)-Université de Lorraine (UL), and Centre National de la Recherche Scientifique (CNRS)-Université de Lorraine (UL)-Institut National de Recherche en Informatique et en Automatique (Inria)-Centre National de la Recherche Scientifique (CNRS)-Université de Lorraine (UL)-Institut National de Recherche en Informatique et en Automatique (Inria)

Subjects
Réseaux IP, Hybrid systems, Multi-modélisation, Complex system, DEVS, Multi-modeling, Co-simulation, IP networks, Systèmes hybrides, [INFO.INFO-MO]Computer Science [cs]/Modeling and Simulation, Systèmes complexes
Abstract

International audience; The modeling and simulation of cyber-physical systems (as smart-grids) is becoming an essential step of their construction process. One central challenge is to integrate in a consistent way each domain and point of view on the target system, each already having its own formalisms and modeling tools.This article presents the benefits of a DEVS wrapping based co-simulation platform (MECSYCO) in terms of integration of the heterogeneity of models and simulators: formalisms, time and data representations, software, etc. The platform provides modularity in the modeling ans simulaiton process: incrementalaty, simulators, exchanges, etc.We show how we have integrated tools like NS3 and OMNET++/INET (reference tools for IP network modeling), or simulation standard such as FMU in our platform and how they can be used in co-simulations.An hybrid co-simulation use case is presented to illustrate our proposal.; La modélisation et simulation des systèmes cyber-physiques, comme les réseaux électriques intelligents, devient une étape préalable incontournable à leur réalisation. Un défi central est alors d'intégrer de manière cohérente les différents domaines d'expertise et les différents points de vue sur le système cible, chacun disposant déjà de ses propres outils et formalismes.Cet article présente l'intérêt de la plateforme de co-simulation MECSYCO, basée sur le wrapping DEVS, en termes d'intégration de l'hétérogénéité des modèles et des simulateurs : formalismes, représentation du temps et des données, logiciels, etc. La plateforme permet également la modularité de la démarche de conception M\&S : incrémentalité, remplacement de simulateurs, etc. Nous montrons comment nous avons réalisé l'intégration d'outils de simulation existants de référence dans le domaine des réseaux IP (e.g. NS-3) ou des standards de la simulation (e.g. FMU) dans la plateforme et comment il est possible de les utiliser pour la co-simulation. Nous nous appuyons sur un cas d'usage de co-simulation hybride de bâtiments intelligents pour illustrer nos propositions.

Published
2017

42. Towards a generic model of adaptative geofencing focused on operationnal issues

Author

Ciarletta, Laurent, Gurriet, Thomas, Management of dynamic networks and services (MADYNES), Inria Nancy - Grand Est, Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria)-Department of Networks, Systems and Services (LORIA - NSS), Laboratoire Lorrain de Recherche en Informatique et ses Applications (LORIA), Centre National de la Recherche Scientifique (CNRS)-Université de Lorraine (UL)-Institut National de Recherche en Informatique et en Automatique (Inria)-Centre National de la Recherche Scientifique (CNRS)-Université de Lorraine (UL)-Institut National de Recherche en Informatique et en Automatique (Inria)-Laboratoire Lorrain de Recherche en Informatique et ses Applications (LORIA), Centre National de la Recherche Scientifique (CNRS)-Université de Lorraine (UL)-Institut National de Recherche en Informatique et en Automatique (Inria)-Centre National de la Recherche Scientifique (CNRS)-Université de Lorraine (UL), Institut National de Recherche en Informatique et en Automatique (Inria)-Université de Lorraine (UL)-Centre National de la Recherche Scientifique (CNRS)-Institut National de Recherche en Informatique et en Automatique (Inria)-Université de Lorraine (UL)-Centre National de la Recherche Scientifique (CNRS)-Laboratoire Lorrain de Recherche en Informatique et ses Applications (LORIA), Institut National de Recherche en Informatique et en Automatique (Inria)-Université de Lorraine (UL)-Centre National de la Recherche Scientifique (CNRS)-Université de Lorraine (UL)-Centre National de la Recherche Scientifique (CNRS), and Ciarletta, Laurent

Subjects
RPAS, [INFO.INFO-NI]Computer Science [cs]/Networking and Internet Architecture [cs.NI], [INFO.INFO-PF]Computer Science [cs]/Performance [cs.PF], [INFO.INFO-NI] Computer Science [cs]/Networking and Internet Architecture [cs.NI], [INFO.INFO-PF] Computer Science [cs]/Performance [cs.PF], UAV, [INFO.INFO-ES]Computer Science [cs]/Embedded Systems, UAS, Geofencing, Drone, [INFO.INFO-ES] Computer Science [cs]/Embedded Systems
Abstract

International audience; We introduce the reasoning and concepts behind a generic approach to obstacle avoidance based on geofencing. In this paper we try to tackle the issue of UAV safety from a practical point of view and propose a collision avoidance system based on safety considerations in real life scenarios. Before doing so, we review some of the related technical aspects in an operational context: global positioning in different reference systems and how to switch between the associated coordinates systems. After looking at the different cartographic representations used in aeronautics and how to apprehend them, we introduce the concept of fence. We then discuss the different possible representations of such geometries. For some, we expose the formulas for calculating distances to the surface of the fence and whether or not the drone has trespassed it. We finally propose two collision avoidance strategies: one in the case of autonomous flight and another in the case of piloted flight. To our knowledge, this second scenario has not been extensively covered and we feel it deserves some attention since most of the UAV’s flying todays are flown manually. This avoidance is based on constrained optimization to find an input for the controller which prevent collision while staying as true as possible to the original command from the human operator. This strategy allows for “smooth” collision avoidance since it gently and continuously restrict the flight possibilities of the UAV while giving as much control freedom as possible to the operator. Finally, we discuss the impact of drone dynamics on our system and how we could take moving fences into consideration.

Published
2015

46. MECSYCO: a Multi-agent DEVS Wrapping Platform for the Co-simulation of Complex Systems

Author

Camus, Benjamin, Paris, Thomas, Vaubourg, Julien, Presse, Yannick, Bourjot, Christine, Ciarletta, Laurent, Chevrier, Vincent, Laboratoire Lorrain de Recherche en Informatique et ses Applications (LORIA), Centre National de la Recherche Scientifique (CNRS)-Université de Lorraine (UL)-Institut National de Recherche en Informatique et en Automatique (Inria), Management of dynamic networks and services (MADYNES), Inria Nancy - Grand Est, Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria)-Department of Networks, Systems and Services (LORIA - NSS), Centre National de la Recherche Scientifique (CNRS)-Université de Lorraine (UL)-Institut National de Recherche en Informatique et en Automatique (Inria)-Centre National de la Recherche Scientifique (CNRS)-Université de Lorraine (UL)-Institut National de Recherche en Informatique et en Automatique (Inria)-Laboratoire Lorrain de Recherche en Informatique et ses Applications (LORIA), Centre National de la Recherche Scientifique (CNRS)-Université de Lorraine (UL)-Institut National de Recherche en Informatique et en Automatique (Inria)-Centre National de la Recherche Scientifique (CNRS)-Université de Lorraine (UL), LORIA, UMR 7503, Université de Lorraine, CNRS, Vandoeuvre-lès-Nancy, Inria Nancy - Grand Est (Villers-lès-Nancy, France), Department of Complex Systems, Artificial Intelligence & Robotics (LORIA - AIS), Institut National de Recherche en Informatique et en Automatique (Inria)-Université de Lorraine (UL)-Centre National de la Recherche Scientifique (CNRS)-Institut National de Recherche en Informatique et en Automatique (Inria)-Université de Lorraine (UL)-Centre National de la Recherche Scientifique (CNRS), Institut National de Recherche en Informatique et en Automatique (Inria)-Université de Lorraine (UL)-Centre National de la Recherche Scientifique (CNRS)-Institut National de Recherche en Informatique et en Automatique (Inria)-Université de Lorraine (UL)-Centre National de la Recherche Scientifique (CNRS)-Laboratoire Lorrain de Recherche en Informatique et ses Applications (LORIA), and Institut National de Recherche en Informatique et en Automatique (Inria)-Université de Lorraine (UL)-Centre National de la Recherche Scientifique (CNRS)-Université de Lorraine (UL)-Centre National de la Recherche Scientifique (CNRS)

Subjects
parallel simulation, multi-agent, hybrid modeling, DEVS, QSS, DEV&DESS, [INFO.INFO-MO]Computer Science [cs]/Modeling and Simulation, FMI/FMU
Abstract

Most modeling and simulation (M&S) questions about complex systems require to take simultaneously account of several points of view. Phenomena evolving at different scales and at different levels of resolution have to be considered. Moreover, expert skills belonging to different scientific fields are needed. The challenges are then to reconcile these heterogeneous points of view, and to integrate each domain tools (formalisms and simulation software) within the rigorous framework of the M&S process. To answer to this issue, we propose here the specifications of the MECSYCO co-simulation middleware. MECSYCO relies on the universality of the DEVS formalism in order to integrate models written in different formalism. This integration is based on a wrapping strategy in order to make models implemented in different simulation software inter-operable. The middleware performs the co-simulation in a parallel, decentralized and distributable fashion thanks to its modular multi-agent architecture. We detail how MECSYCO perform hybrid co-simulations by integrating in a generic way already implemented continuous models thanks to the FMI standard, the DEV&DESS formalism and the QSS method. The DEVS wrapping of FMI that we propose is not restricted to MECSYCO but can be performed in any DEVS-based platform. We show the modularity and the genericity of our approach through an iterative smart heating system M&S. Compared to other works in the literature, our proposition is generic thanks to the strong foundation of DEVS and the unifying features of the FMI standard, while being fully specified from the concepts to their implementations .

Published
2016

47. Study about decomposition and integration of continuous systems in discrete environment

Author

Paris, Thomas, Tan, Alexandre, Chevrier, Vincent, Ciarletta, Laurent, Management of dynamic networks and services (MADYNES), Inria Nancy - Grand Est, Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria)-Department of Networks, Systems and Services (LORIA - NSS), Laboratoire Lorrain de Recherche en Informatique et ses Applications (LORIA), Institut National de Recherche en Informatique et en Automatique (Inria)-Université de Lorraine (UL)-Centre National de la Recherche Scientifique (CNRS)-Institut National de Recherche en Informatique et en Automatique (Inria)-Université de Lorraine (UL)-Centre National de la Recherche Scientifique (CNRS)-Laboratoire Lorrain de Recherche en Informatique et ses Applications (LORIA), Institut National de Recherche en Informatique et en Automatique (Inria)-Université de Lorraine (UL)-Centre National de la Recherche Scientifique (CNRS)-Université de Lorraine (UL)-Centre National de la Recherche Scientifique (CNRS), SIMulating and Building IOT (SIMBIOT), Department of Networks, Systems and Services (LORIA - NSS), Institut National de Recherche en Informatique et en Automatique (Inria)-Université de Lorraine (UL)-Centre National de la Recherche Scientifique (CNRS)-Institut National de Recherche en Informatique et en Automatique (Inria)-Université de Lorraine (UL)-Centre National de la Recherche Scientifique (CNRS), Institut National de Recherche en Informatique et en Automatique (Inria)-Université de Lorraine (UL)-Centre National de la Recherche Scientifique (CNRS), and PARIS, Thomas

Subjects
Decomposition, [INFO.INFO-MO] Computer Science [cs]/Modeling and Simulation, Co-simulation, FMI, [INFO.INFO-MO]Computer Science [cs]/Modeling and Simulation
Abstract

International audience; A complex system is one composed of many interacting heterogeneous entities. This kind of system can be dealt with multi-modeling and co-simulation but individual models may also be heterogeneous (continuous , discrete, event-based...). To manage this complexity , we use MECSYCO (Multi-agent Environment for Complex-SYstem CO-simulation) a DEVS compliant environment for co-simulation. MECSYCO handles heterogeneity issues, but the number of models which may interact during a co-simulation of a complex system raises also performance issues. So it's important to develop performance measurement tools to study MECSYCO's co-simulation performances. In this article we present modular performance measurement tools for MECSYCO. We test these tools on our " Multi-Room Heating " model, a scalable continuous system, to assert the tradeoff between accuracy and computational time when integrating continuous system in a discrete modeling environment. Then we study the impact of decomposing a continuous system contained in one FMU into several FMUs which interact. We verify the validity of our tools and we show that, under some conditions, a large model that cannot be solved on one block, can be decomposed into smaller ones, solved and simulated in a co-simulation on MECSYCO without significant loss of accuracy.

Published
2016

48. A Symbiotic Approach to Designing Cross-Layer QoS in Embedded Real-Time Systems

Author

Greff, Florian, Dujardin, Eric, Samama, Arnaud, Song, Ye-Qiong, Ciarletta, Laurent, Thales Research and Technology [Palaiseau], THALES, Management of dynamic networks and services (MADYNES), Inria Nancy - Grand Est, Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria)-Department of Networks, Systems and Services (LORIA - NSS), Laboratoire Lorrain de Recherche en Informatique et ses Applications (LORIA), Centre National de la Recherche Scientifique (CNRS)-Université de Lorraine (UL)-Institut National de Recherche en Informatique et en Automatique (Inria)-Centre National de la Recherche Scientifique (CNRS)-Université de Lorraine (UL)-Institut National de Recherche en Informatique et en Automatique (Inria)-Laboratoire Lorrain de Recherche en Informatique et ses Applications (LORIA), Centre National de la Recherche Scientifique (CNRS)-Université de Lorraine (UL)-Institut National de Recherche en Informatique et en Automatique (Inria)-Centre National de la Recherche Scientifique (CNRS)-Université de Lorraine (UL), SIMulating and Building IOT (SIMBIOT), Department of Networks, Systems and Services (LORIA - NSS), Centre National de la Recherche Scientifique (CNRS)-Université de Lorraine (UL)-Institut National de Recherche en Informatique et en Automatique (Inria)-Centre National de la Recherche Scientifique (CNRS)-Université de Lorraine (UL)-Institut National de Recherche en Informatique et en Automatique (Inria), Institut National de Recherche en Informatique et en Automatique (Inria)-Université de Lorraine (UL)-Centre National de la Recherche Scientifique (CNRS)-Institut National de Recherche en Informatique et en Automatique (Inria)-Université de Lorraine (UL)-Centre National de la Recherche Scientifique (CNRS)-Laboratoire Lorrain de Recherche en Informatique et ses Applications (LORIA), Institut National de Recherche en Informatique et en Automatique (Inria)-Université de Lorraine (UL)-Centre National de la Recherche Scientifique (CNRS)-Institut National de Recherche en Informatique et en Automatique (Inria)-Université de Lorraine (UL)-Centre National de la Recherche Scientifique (CNRS)-Inria Nancy - Grand Est, Institut National de Recherche en Informatique et en Automatique (Inria), Institut National de Recherche en Informatique et en Automatique (Inria)-Université de Lorraine (UL)-Centre National de la Recherche Scientifique (CNRS)-Institut National de Recherche en Informatique et en Automatique (Inria)-Université de Lorraine (UL)-Centre National de la Recherche Scientifique (CNRS), THALES [France], and Institut National de Recherche en Informatique et en Automatique (Inria)-Université de Lorraine (UL)-Centre National de la Recherche Scientifique (CNRS)-Université de Lorraine (UL)-Centre National de la Recherche Scientifique (CNRS)

Subjects
[INFO.INFO-AR]Computer Science [cs]/Hardware Architecture [cs.AR], [INFO.INFO-NI]Computer Science [cs]/Networking and Internet Architecture [cs.NI], mesh, network, QoS, real-time, [INFO.INFO-ES]Computer Science [cs]/Embedded Systems, [INFO.INFO-ET]Computer Science [cs]/Emerging Technologies [cs.ET], RapidIO, [INFO.INFO-DC]Computer Science [cs]/Distributed, Parallel, and Cluster Computing [cs.DC], simulation, [INFO.INFO-MO]Computer Science [cs]/Modeling and Simulation
Abstract

International audience; Nowadays there is an increasing need for embedded systems to support intensive computing while maintaining traditional hard real-time and fault-tolerant properties. Extending the principle of multi-core systems, we are exploring the use of distributed processing units interconnected via a high performance mesh network as a way of supporting distributed real-time applications. Fault-tolerance can then be ensured through dynamic allocation of both computing and communication resources. We postulate that enhancing QoS (Quality of Service) for real-time applications entails the development of a cross-layer support of high-level requirements, thus requiring a deep knowledge of the underlying networks. In this paper, we propose a new simulation/emulation/experimentation framework, ERICA, for designing such a feature. ERICA integrates both a network simulator and an actual hardware network to allow implementation and evaluation of different QoS-guaranteeing mechanisms. It also supports real-software-in-the-loop, i.e. running of real applications and middleware over these networks. Each component can evolve separately or together in a symbiotic manner, also making teamwork more flexible. We present in more detail our discrete-event simulation approach and the in-silicon implementation with which we cross-check our solutions in order to bring real performance aspects to our work. We also discuss the challenges of running real-software-in-the-loop in a real-time context, i.e. how to bridge it with a network simulator, and how to deal with time consistency.

Published
2016

49. Co-Simulation of IP Network Models in the Cyber-Physical Systems Context, using a DEVS-based Platform

Author

Vaubourg, Julien, Chevrier, Vincent, Ciarletta, Laurent, Camus, Benjamin, Management of dynamic networks and services (MADYNES), Inria Nancy - Grand Est, Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria)-Department of Networks, Systems and Services (LORIA - NSS), Laboratoire Lorrain de Recherche en Informatique et ses Applications (LORIA), Institut National de Recherche en Informatique et en Automatique (Inria)-Université de Lorraine (UL)-Centre National de la Recherche Scientifique (CNRS)-Institut National de Recherche en Informatique et en Automatique (Inria)-Université de Lorraine (UL)-Centre National de la Recherche Scientifique (CNRS)-Laboratoire Lorrain de Recherche en Informatique et ses Applications (LORIA), Institut National de Recherche en Informatique et en Automatique (Inria)-Université de Lorraine (UL)-Centre National de la Recherche Scientifique (CNRS)-Université de Lorraine (UL)-Centre National de la Recherche Scientifique (CNRS), SIMulating and Building IOT (SIMBIOT), Department of Networks, Systems and Services (LORIA - NSS), Institut National de Recherche en Informatique et en Automatique (Inria)-Université de Lorraine (UL)-Centre National de la Recherche Scientifique (CNRS)-Institut National de Recherche en Informatique et en Automatique (Inria)-Université de Lorraine (UL)-Centre National de la Recherche Scientifique (CNRS), Design and Implementation of Autonomous Distributed Systems (MYRIADS), Inria Rennes – Bretagne Atlantique, Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria)-SYSTÈMES LARGE ÉCHELLE (IRISA-D1), Institut de Recherche en Informatique et Systèmes Aléatoires (IRISA), Université de Rennes (UR)-Institut National des Sciences Appliquées - Rennes (INSA Rennes), Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Université de Bretagne Sud (UBS)-École normale supérieure - Rennes (ENS Rennes)-Institut National de Recherche en Informatique et en Automatique (Inria)-Télécom Bretagne-CentraleSupélec-Centre National de la Recherche Scientifique (CNRS)-Université de Rennes (UR)-Institut National des Sciences Appliquées - Rennes (INSA Rennes), Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Université de Bretagne Sud (UBS)-École normale supérieure - Rennes (ENS Rennes)-Institut National de Recherche en Informatique et en Automatique (Inria)-Télécom Bretagne-CentraleSupélec-Centre National de la Recherche Scientifique (CNRS)-Institut de Recherche en Informatique et Systèmes Aléatoires (IRISA), Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Université de Bretagne Sud (UBS)-École normale supérieure - Rennes (ENS Rennes)-Télécom Bretagne-CentraleSupélec-Centre National de la Recherche Scientifique (CNRS), Vaubourg, Julien, Centre National de la Recherche Scientifique (CNRS)-Université de Lorraine (UL)-Institut National de Recherche en Informatique et en Automatique (Inria)-Centre National de la Recherche Scientifique (CNRS)-Université de Lorraine (UL)-Institut National de Recherche en Informatique et en Automatique (Inria)-Laboratoire Lorrain de Recherche en Informatique et ses Applications (LORIA), Centre National de la Recherche Scientifique (CNRS)-Université de Lorraine (UL)-Institut National de Recherche en Informatique et en Automatique (Inria)-Centre National de la Recherche Scientifique (CNRS)-Université de Lorraine (UL), Université de Lorraine (UL), and Centre National de la Recherche Scientifique (CNRS)-Université de Lorraine (UL)-Institut National de Recherche en Informatique et en Automatique (Inria)

Subjects
multi-modeling, [INFO.INFO-NI]Computer Science [cs]/Networking and Internet Architecture [cs.NI], NS-3, [INFO.INFO-NI] Computer Science [cs]/Networking and Internet Architecture [cs.NI], MECSYCO, IP, networks, DEVS, [INFO.INFO-MO] Computer Science [cs]/Modeling and Simulation, co-simulation, OMNeT++, [INFO.INFO-MO]Computer Science [cs]/Modeling and Simulation, cyber physical systems
Abstract

International audience; Cyber-Physical Systems (smart grids, cities, homes, etc) are composed of computing resources, actuators and sensors , connected through IP networks. These IP networks involve many technologies. In order to help designing and evaluating these systems, we are studying the modeling and simulation of IP networks in this context. Since there is no universal IP simulator proposing a model library corresponding to all the required technologies, we propose a solution to make different major IP simulators, generally not interoperable, interact with one another in a same co-simulation. Moreover, they should also interact with simu-lators corresponding to other fields of expertise involved in the simulation, mostly related to the physical or social aspects of these systems (e.g. power models, traffic models, weather models, etc). In this paper, we propose to address these issues as a multi-modeling problem, by integrating well-known IP network simulators into a DEVS-based co-simulation platform. We propose some concepts, helping to split a network topology into several models, to create input/output ports inside them, and to integrate them to a DEVS multi-model. We illustrate our solution thanks to a use case, including interconnected event-based models executed both by NS-3 and OMNeT++, equation-based models and the co-simulation platform MECSYCO.

Published
2016

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