Search results for " Programming"
showing 10 items of 1616 documents
Consensus-based Distributed Intrusion Detection for Multi-Robot Systems
2008
This paper addresses a security problem in robotic multi-agent systems, where agents are supposed to cooperate according to a shared protocol. A distributed Intrusion Detection System (IDS) is proposed here, that detects possible non-cooperative agents. Previous work by the authors showed how single monitors embedded on-board the agents can detect non- cooperative behavior, using only locally available information. In this paper, we allow such monitors to share the collected information in order to overcome their sensing limitation. In this perspective, we show how an agreement on the type of behavior of a target-robot may be reached by the monitors, through execution of a suitable consensu…
Distributed Intrusion Detection for the Security of Industrial Cooperative Robotic Systems
2014
Abstract This paper addresses the problem of detecting possible intruders in a group of autonomous robots which coexist in a shared environment and interact with each other according to a set of common rules. We consider intruders as robots which misbehave, i.e. do not follow the rules, because of either spontaneous failures or malicious reprogramming. Our goal is to detect intruders by observing the congruence of their behavior with the social rules as applied to the current state of the overall system. Moreover, in accordance with the fully distributed nature of the problem, the detection itself must be performed by individual robots, based only on local information. We present a general …
A Phase-Locked Loop for the Synchronization of Power Quality Instruments in the Presence of Stationary and Transient Disturbances
2007
Power quality instrumentation requires accurate fundamental frequency estimation and signal synchronization, even in the presence of both stationary and transient disturbances. In this paper, the authors present a synchronization technique for power quality instruments based on a single-phase software phase-locked loop (PLL), which is able to perform the synchronization, even in the presence of such disturbances. Moreover, PLL is able to detect the occurrence of a transient disturbance. To evaluate if and how the synchronization technique is adversely affected by the application of stationary and transient disturbing influences, appropriate testing conditions have been developed, taking int…
Impact of industrial environments on the PC-based measurements
2007
In the paper we present a simple and fast procedure to evaluate the impact of the electromagnetic disturbances, which can be present in the industrial locations, on the measurements performed by a generic PC-based measurement instrument. The method is conceived starting from the data obtained by subjecting the instruments to the disturbances prescribed by the IEC-61326 standard. The results show that, even under heavy disturbances, the common good practices of shielding and grounding allow a correct employment of this kind of instrumentation.
Single thermal zone balance solved by Transfer Function Method
2005
We present an algorithm that uses the Z-transform operator to face the problem of heat transmission in a single thermal zone composed by multilayered walls. The method is very flexible and could be adopted to calculate the transfer function coefficients able to simulate the thermal behaviour of a room in free floating. Knowing the transfer function coefficients, it is possible to simulate the dynamic profile of each inner surfaces temperature and furthermore of the inner air temperature. The proposed algorithm is fully described granting maximum clarity. The explicitness of all steps of the calculus make possible the definition of a method that is able to vary all of the calculus parameters…
A comprehensive tool for efficient design and operation of polygeneration-based energy μgrids serving a cluster of buildings. Part I: Description of …
2013
Polygeneration systems with thermal energy storage represent promising solutions to achieve energy saving and emissions reduction in the civil sector. The definition of customer-oriented design and operation strategies represents a most challenging task, in order to maximize the profitability and make the investment attractive. A large potential is often recognized for the installation of centralized plants serving a cluster of buildings located over a small area; in such cases the design problem becomes extremely complex and the analyst needs reliable instruments to identify the optimal solution. This paper in two parts presents a scientific tool for the optimization of design and operatio…
Distributed Multi-level Motion Planning for Autonomous Vehicles in Large Scale Industrial Environments
2013
In this paper we propose a distributed coordination algorithm for safe and efficient traffic management of heterogeneous robotic agents, moving within dynamic large scale industrial environments. The algorithm consists of a distributed resource--sharing protocol involving a re--planning strategy. Once every agent is assigned with a desired motion path, the algorithm ensures ordered traffic flows of agents, that avoid inter--robot collision and system deadlock (stalls). The algorithm allows multi--level representation of the environment, i.e. large or complex rooms may be seen as a unique resource with given capacity at convenience, which makes the approach appealing for complex industrial e…
Local Monitor Implementation for Decentralized Intrusion Detection in Secure Multi–Agent Systems
2007
This paper focuses on the detection of misbehav- ing agents within a group of mobile robots. A novel approach to automatically synthesize a decentralized Intrusion Detection System (IDS) as well as an efficient implementation of local monitors are presented. In our scenario, agents perform possi- bly different independent tasks, but cooperate to guarantee the entire system’s safety. Indeed, agents plan their next actions by following a set of logic rules which is shared among them. Such rules are decentralized, i.e. they depend only on configurations of neighboring agents. However, some agents may not be acting according to this cooperation protocol, due to spontaneous failure or tampering.…
TRACE and RELAP5 Codes for Beyond Design Accident Condition Simulation in the SPES3 Facility
2012
Code validation on qualified experimental data is a fundamental issue in the design and safety analyses of nuclear power plants. The SPES3 facility is being built at the SIET laboratories for an integral type SMR simulation, in the frame of an R&D program on nuclear fission, funded by the Italian Ministry of Economic Development and led by ENEA. The facility, based on the IRIS reactor design, reproduces the primary, secondary and containment systems with 1:100 volume scale, full elevation and prototypical fluid and thermal-hydraulic conditions. It is suitable to test the plant response to design and beyond design accidents in order to verify the effectiveness of the primary and containm…
Cyber Security for Wireless Semantic (SCADA/DCS) Systems
2016
International audience; Supervisory Control and Data Acquisition and Distributed Control Systems named (SCADA/DCS) have played a key role in the design of modern power smart applications, particularly in the automatic management of real time energetic platforms. In this work, we present a semantic cyber security vulnerabilities add to classic one, with the use of semantic embedded application in smart devices in semantic wireless (SCADA/DCS) systems, focusing on the semantic attacks. In this work, we present a new security semantic wireless protocol as a secure communication support for these modern semantic wireless systems named (ZIGBEE/SOAP/SECURITY), obtained by the combination between …