Yuri Kaszubowski Lopes

Santa Catarina State University | UDESC · Departamento de Ciência da Computação

At present, most of the source code controlling swarm robotic systems is developed in an ad-hoc manner. This can make it difficult to maintain these systems and to guarantee that they will accomplish the desired behaviour. Formal approaches can help to solve these issues. However, they do not usually guarantee that the final source code will match...

The use of MES (Manufacturing Execution System) is an alternative to link the ERP (Enterprise Resource Planning) to the activities at the shop floor. Due to the difference between the transactional feature of the ERP systems and the real-time features of the operations of the shop floor, MES becomes an important tool. SCADA (Supervisory Control And...

This paper presents the implementation of supervisory control theory in microcontrollers. To ensure a good implementation problems previously discussed in the literature must be solved in the microcontroller environment. The memory of these devices is limited so the use of local modular supervisors is encouraged as well as the use of strategies for...

This paper presents a methodology for implementing in microcontrollers, the control logic obtained through the Supervisory Control Theory (SCT) called Memory Safe. This approach aims to reduce the memory consumption of the microcontroller, resulting in a compact storage structure of the supervisor. The paper also presents a comparative study on the...

Resiliência contra ataques cibernéticos é uma demanda de sistemas ciberfísicos modernos dada a evolução da indústria 4.0. Neste trabalho, formalismos de Sistemas a Eventos Discretos (SEDs) são utilizados para a formulação de uma abordagem para segurança de sistemas ciberfísicos contra ataques a atuadores através do uso de criptografia simétrica bas...

Relying only on behaviors that emerge from simple responsive controllers; swarms of robots have been shown capable of autonomously aggregate themselves or objects into clusters without any form of communication. We push these controllers to the limit, requiring robots to sort themselves or objects into different clusters. Based on a responsive cont...

We investigate how reliable movement can emerge in aggregates of highly error-prone individuals. The individuals—robotic modules—move stochastically using vibration motors. By coupling them via elastic links, soft-bodied aggregates can be created. We present distributed algorithms that enable the aggregates to move and deform reliably. The concept...

In recent years, cybersecurity has received increasing attention due to the demand from a large class of networked systems for resilience against cyberattacks that may compromise privacy, integrity and availability. Many of these systems are abstracted as Discrete Event Systems (DES) as their evolution occurs through the occurrence of discrete even...

In manufacturing systems, quality of inspection is a critical issue. This can be conducted by humans, or by employing Computer Vision Systems (CVS) which are trained upon representative datasets of images to detect classes of defects that may occur. The construction of such datasets strongly limits the use of CVS methods, as the variety of defects...

Many applications rely on spatial information retrieval, which involves costly computational geometric algorithms to process spatial queries. Spatial approximations simplify the geometric shape of complex spatial objects, allowing faster spatial queries at the expense of result accuracy. In this sense, spatial approximations have been employed to e...

Involving human operators to support swarms of robots can be beneficial to address increasingly complex scenarios. However, the shared control between multiple operators remains a challenge, especially where communication between the operators is not available. This paper studies the problem of forming a dynamic chain of robots connecting two opera...

Spatial approximations simplify the geometric shape of complex spatial objects. Hence, they have been employed to alleviate the evaluation of costly computational geometric algorithms when processing spatial queries. For instance, spatial index structures employ them to organize spatial objects in tree structures (e.g., the R-tree). We report exper...

Discrete Event Systems (DESs) are classically modeled as Finite State Machines (FSMs), and controlled in a maximally permissive, controllable, and nonblocking way using Supervisory Control Theory (SCT). While SCT is powerful to orchestrate events of DESs, it fail to process events whose control is based on probabilistic assumptions. In this researc...

We propose a Genetic Programming Markup Language (GPML), an XML based standard for the interchange of genetic programming trees, and outline the benefits such a format would bring in allowing the deployment of trained genetic programming (GP) models in applications as well as the subsidiary benefit of allowing GP researchers to directly share train...

A pandemia COVID-19 afetou a saúde, a sociedade e a economia em escala global. O impacto nas atividades do dia-a-dia abrange uma ampla gama de atividades, incluindo trabalho e lazer. Felizmente, muitos projetos visam enfrentar os desafios impostos pelo COVID-19. As universidades assumiram a liderança em várias frentes para ampliar a resiliência da...

We present a novel approach to obtaining dynamic nonlinear models using genetic programming (GP) for the model predictive control (MPC) of the indoor temperatures of buildings. Currently, the large-scale adoption of MPC in buildings is economically unviable due to the time and cost involved in the design and tuning of predictive models by expert co...

Supervisory Control Theory (SCT) provides a formal framework for controlling discrete event systems. It has recently been used to generate correct-by-construction controllers for swarm robotics systems. Current SCT frameworks are limited, as they support only (private) events that are observable within the same robot. In this paper, we propose an e...

Supervisory Control Theory (SCT) provides a formal framework for controlling discrete event systems. It has recently been used to generate correct-byconstruction controllers for swarm robotics systems. Current SCT frameworks are limited, as they support only (private) events that are observable within the same robot. In this paper, we propose an ex...

Swarm robotics investigates groups of relatively simple robots that use decentralized control to achieve a common goal. While the robots of many swarm systems communicate via optical links, the underlying channels and their impact on swarm performance are poorly understood. This paper models the optical channel of a widely used robotic platform, th...

Genetic programming (GP) has developed to the point where it is a credible candidate for the ‘black box’ modeling of real systems. Wider application, however, could greatly benefit from its seamless embedding in conventional optimization schemes, which are most efficiently carried out using gradient-based methods. This paper describes the developme...

This paper presents a distributed boundary detection method for a swarm of robots. It employs the cyclic-shape algorithm together with a local coordinate identification, thereby allowing boundary detection without bearing measurements. Each robot can communicate with, and estimate the distance to, its neighbouring robots. The method is validated us...

Genetic programming (GP) has developed to the point where it is a credible candidate for the `black box' modeling of real systems. Wider application, however, could greatly benefit from its seamless embedding in conventional optimization schemes, which are most efficiently carried out using gradient-based methods. This paper describes the developme...

We present a distributed boundary detection method for a swarm of robots. It employs the cyclic-shape algorithm together with a local coordinate identification, thereby allowing boundary detection without bearing measurements. Each robot can communicate with, and estimate the distance to, its neighbouring robots. The method is validated using swarm...

Multi-UAV applications can be analyzed from the point of view of a complex system. Request-oriented deployment is a category of complex systems, in which the UAVs (the set of resources) are used to meet demands of the task requests (the set of needs). Task requests require aircrafts to attend to an occurrence location, perform a task on it and, fin...

Swarm robotics studies large groups of robots that work together to accomplish common tasks. Much of the used source code is developed in an ad-hoc manner, meaning that the correctness of the controller is not always verifiable. In previous work, supervisory control theory (SCT) and associated design tools have been used to address this problem. Gi...

In SCT, formal languages are used to model the capabilities of a system (free behaviour models) and restrict these capabilities in some desired way (control specifications). The words of these languages are made of two types of symbols: controllable events and uncontrollable events. SCT combines the languages into a supervisor (controller), which g...

This paper presents OpenSwarm, a lightweight easy-to-use open-source operating system. To our knowledge, it is the first operating system designed for and deployed on miniature robots. OpenSwarm operates directly on a robot’s microcontroller. It has a memory footprint of 1 kB RAM and 12 kB ROM. OpenSwarm enables a robot to execute multiple processe...

Currently, the control software of swarm robotics systems is created by ad hoc development. This makes it hard to deploy these systems in real-world scenarios. In particular, it is difficult to maintain, analyse, or verify the systems. Formal methods can contribute to overcome these problems. However, they usually do not guarantee that the implemen...

This article presents a software tool for the synthesis of supervisory control based on untimed finite state automata. The tool has a friendly graphical interface for the creation of models and, among other features, allows: automata simulation; analysis of problems related to the implementation of the control logic; and code generation for multipl...

At present, most of the source code controlling swarm robotic systems is developed in an ad-hoc manner. This can make it difficult to maintain these systems and to guarantee that they will accomplish the desired behaviour. Formal approaches can help to solve these issues. However, they do not usually guarantee that the final source code will match...

The languages and automata theory is used to obtain the coordinating control logic of automated manufacturing plants. However, there is a lack of standardization to interface MES (Manufacturing Execution System), SCADA (Supervisory Control System and Data Acquisition) and coordination control. This paper investigates the use of languages and automa...

This work presents solutions for the pneumatic micromotors speed control applied in dental hand-pieces. A review of the air motors behaviour is presented. Besides, the system empiric identification is performed through a testbed. It is proposed three different approaches for the micromotor speed control, being two linear (Proportional and Proportio...

In this paper, we apply the Supervisory Control Theory of Discrete Event Systems to model an industrial system of transportation of powder raw material. We use the monolithic approach for the synthesis of a nonblocking and minimally restrictive supervisor for this system to restrict its closed-loop behavior to meet the control specifications. The a...

RESUMO Neste artigo é discutido o uso da realidade virtual na manufatura, ou Manufatura Virtual, aplicada a duas áreas: a de análise de código de controle e, para o projeto do layout da planta. São abordados ainda os aspectos de treinamento e educação afim de identificar a possibilidade do uso destes para o aprendizado da automação da manufatura e...