A percussion performance by a skilled musician will often extend beyond a written score in terms of expressiveness. This assertion is clearly evident when comparing a human performance with one that has been rendered by some form of automaton that expressly follows a transcription. Although music notation enforces a significant set of constraints, it is the responsibility of the performer to interpret the piece and “bring it to life” in the context of the composition, style, and perhaps with a historical perspective. In this sense, the sheet music serves as a general guideline upon which to build a credible performance that can carry with it a myriad of subtle nuances. Variations in such attributes as timing, dynamics, and timbre all contribute to the quality of the performance that will make it unique within a population of musicians. The ultimate goal of this research is to gain a greater understanding of these subtle nuances, while simultaneously developing a set of stochastic motion models that can similarly approximate minute variations in multiple dimensions on a purpose-built robot. Live or recorded motion data, and algorithmic models will drive an articulated robust multi-axis mechatronic system that can render a unique and audibly pleasing performance that is comparable to its human counterpart using the same percussion instruments. By utilizing a non-invasive and flexible design, the robot can use any type of drum along with different types of striking implements to achieve an acoustic richness that would be hard if not impossible to capture by sampling or sound synthesis. The flow of this thesis will follow the course of this research by introducing high-level topics and providing an overview of related work. Next, a systematic method for gesture acquisition of a set of well-defined percussion scores will be introduced, followed by an analysis that will be used to derive a set of requirements for motion control and its associated electromechanical subsystems. A detailed multidiscipline engineering effort will be described that culminates in a robotic platform design within which the stochastic motion models can be utilized. An analysis will be performed to evaluate the characteristics of the robotic renderings when compared to human reference performances. Finally, this thesis will conclude by highlighting a set of contributions as well as topics that can be pursued in the future to advance percussion robotics. / Graduate / 2019-12-10

Il s'agit d'une étude menée sur les systèmes cyber-physiques sur trois aspects principaux: la vérification de la stabilité, l'ordonnancement et la synthèse des paramètres. Les systèmes de contrôle embarqués (ECS) agissant dans le cadre de contrats temporels sont la classe considérée de systèmes cyber-physiques dans la thèse. ECS fait référence à des intégrations d'un dispositif informatique avec le système physique. En ce qui concerne les contrats temporels, ils sont des contraintes de temps sur les instants où se produisent certains événements tels que l'échantillonnage, l'actionnement et le calcul. Ces contrats sont utilisés pour modéliser les problèmes qui se posent dans les systèmes de contrôle modernes: incertitudes sur les retards d'actionnement, les périodes d'échantillonnage incertaines et l'interaction de plusieurs systèmes physiques avec des ressources informatiques partagées (CPUs). Maintenant, compte tenu d'un ECS et d'un contrat temporel, nous reformulons le système de manière impulsionnelle et vérifions la stabilité du système, sous toutes les incertitudes bornées et données par le contrat, en utilisant des techniques d'approximation convexe et de nouveaux résultats généralisés pour le problème sur une classe de systèmes modélisés dans le cadre des inclusions différentielles. Deuxièmement, compte tenu d'un ensemble de contrôleurs implémentés sur une plate-forme de calcul commune (CPUs), dont chacun est soumis à un contrat de synchronisation, et à son meilleur et son plus mauvais cas d'exécution dans chaque CPU, nous synthétisons une politique d’ordonnancement dynamique qui garantit que chaque contrat temporel est satisfait et que chacun des CPU partagés est attribué à au plus un contrôleur à tout moment. L'approche est basée sur une reformulation qui nous permet d'écrire le problème d’ordonnancement comme un jeu temporelle avec spécification de sureté. Ensuite, en utilisant l'outil UPPAAL-TIGA, une solution au jeu fournit une politique d’ordonnancement appropriée. En outre, nous fournissons une nouvelle condition nécessaire et suffisante pour l’ordonnancement des tâches de contrôle en fonction d’un jeu temporisé simplifiés. Enfin, nous résolvons un problème de synthèse de paramètres qui consiste à synthétiser une sous-approximation de l'ensemble des contrats de synchronisation qui garantissent en même temps l’ordonnancement et la stabilité des contrôleurs intégrés. La synthèse est basée sur un nouveau paramétrage du contrat temporel pour les rendre monotones, puis sur un échantillonnage à plusieurs reprises de l'espace des paramètres jusqu'à atteindre une précision d'approximation prédéfinie. / This is a study conducted on cyber-physical systems on three main aspects: stability verification, scheduling, and parameter synthesis. Embedded control systems (ECS) acting under timing contracts are the considered class of cyber-physical systems in the thesis. ECS refers to integrations of a computing device with the physical system. As for timing contracts they are time constraints on the instants where some events happen such as sampling, actuation, and computation. These contracts are used to model issues that arise in modern embedded control systems: uncertain sampling to actuation delays, uncertain sampling periods, and interaction of several physical systems with shared computational resources (CPUs). Now given an ECS and a timing contract we reformulate the system into an impulsive one and verifies stability of the system, under all possible bounded uncertainties given by the contract, using safe convex approximation techniques and new generalized results for the problem on a class of systems modeled in the framework of difference inclusions. Second given a set of controllers implemented on a common computational platform (CPUs), each of which is subject to a timing contract, and best and worst case execution times on each CPU, we synthesize a dynamic scheduling policy, which guarantees that each timing contract is satisfied and that each of the shared CPUs are allocated to at most one embedded controller at any time. The approach is based on a timed game formulation that allows us to write the scheduling problem as a timed safety game. Then using the tool UPPAAL-TIGA, a solution to the safety game provides a suitable scheduling policy. In addition, we provide a novel necessary and sufficient condition for schedulability of the control tasks based on a simplified timed game automaton. Last, we solve a parameter synthesis problem which consists of synthesizing an under-approximation of the set of timing contracts that guarantee at the same time the schedulability and stability of the embedded controllers. The synthesis is based on a re-parameterization of the timing contract to make them monotonic, and then on a repeatedly sampling of the parameter space until reaching a predefined precision of approximation.

A Indústria 4.0, ou quarta revolução industrial, é o atual cenário industrial que estabelece um novo paradigma para os sistemas de produção. A indústria 4.0 é compreendida como a implementação da fábrica inteligente que opera de forma mais autônoma e com menor intervenção humana, cujo propósito é prover serviços e produtos inteligentes que atendam às necessidades individuais dos consumidores. A Indústria 4.0 está amparada nos sistemas ciber-físicos (CPS) e na Internet das Coisas (IoT). Neste cenário máquinas e produtos se comunicam entre si visando automatizar os processos industriais por meio de informações individuais obtidas em tempo real durante os processos de manufatura. No entanto, a Indústria 4.0 e as pesquisas em torno desse assunto ainda são muito recentes e requerem mais investigações no que diz respeito às arquiteturas que suportem a sua implementação, entre elas a comunicação entre produtos e máquinas. Neste quesito, recentemente foi proposto o modelo de arquitetura de referência para a Indústria 4.0 (RAMI 4.0) com o objetivo de nortear a implementação deste tipo de sistema. Contudo, o RAMI 4.0 ainda requer esforços no campo da pesquisa sob diferentes aspectos, entre eles a integração vertical de recursos do sistema de produção. Neste sentido, este trabalho objetiva apresentar uma arquitetura para a descoberta de equipamentos para processar operações conforme as necessidades dos produtos. A arquitetura foi projetada em camadas baseadas no RAMI 4.0 para prover componentes que permitam a comunicação entre equipamentos e produtos, e um mecanismo similar ao sistema de nomes de domínios (DNS - Domain Name System) para realizar a descoberta de equipamentos para processar uma determinada operação. Nessa arquitetura as informações dos equipamentos são armazenadas em uma estrutura organizada hierarquicamente para auxiliar o serviço de descoberta, e os produtos possuem informações das operações necessárias para o processo de manufatura. Para garantir a eficácia do funcionamento dos componentes e suas interações, é necessário a verificação e validação por meio de métodos formais. Neste trabalho a verificação e validação é realizada por meio da técnica PFS (Production Flow Schema)/RdP (Rede de Petri). Por fim, a arquitetura é aplicada em um sistema de produção modular para demonstrar a sistemática de implementação e a sua efetividade. / The Industry 4.0, also known as fourth industrial revolution, is the current industrial scenario that sets a new paradigm for production systems. The Industry 4.0 can be understood as the implementation of the smart factory that operates more autonomously and with less human intervention. The purposes of it is to provide smart products and services that meet the consumer individual needs. The Industry 4.0 is supported by cyber-physical systems (CPS) and Internet of Things (IoT). In this scenario machines and products communicate with each other to automate industrial processes through individual information that are obtained in real time during manufacturing processes. However, the researches around this issue are still very recent and require further investigations with regard of to the architectures that support its implementation, including communication between products and equipment. Taking into account this problem, a Reference Architectural Model for Industry 4.0 (RAMI 4.0) was recently proposed with the purpose to guide the implementation of this system type. However, the RAMI 4.0 still requires efforts in different aspects, including the vertical integration of resources of the production systems. In this sense, this work aims to present an architecture for the discovery of equipment to process operations according to the product needs. The architecture was designed based on layers of the RAMI 4.0 to provide components that allow communication between equipment and products and a Web Service that offer a mechanism similar to the Domain Name System (DNS) to locate equipment to process a required operation. In this architecture the capable operations supported by the equipment are stored in a structure organized hierarchically to aid the discovery service, and the products have information of the operation required for the manufacturing process. In order to guarantee the effectiveness of the component functionalities and their interactions it is necessary to verify and validate them by formal methods. In this work the Production Flow Schema (PFS)/Petri Net (PN) technique is used to develop the conceptual and functional modeling of the architecture. Finally the architecture is applied in a modular production system to demonstrate its implementation systematics and its effectiveness.

Submitted by Gilmar Barros (gilmargomesdebarros@gmail.com) on 2015-05-12T17:00:56Z No. of bitstreams: 1 Tese - Rafael Penna.pdf: 5494264 bytes, checksum: 3a53496319b33a5169c281e0bcb7a800 (MD5) / Rejected by Vitor de Carvalho (vitor_carvalho_im@hotmail.com), reason: - Sobrenomes de autor/orientador não podem estar em caixa alta; - Falta um dos sobrenomes da orientadora. on 2015-06-12T19:44:55Z (GMT) / Submitted by Gilmar Barros (gilmargomesdebarros@gmail.com) on 2015-06-15T15:33:55Z No. of bitstreams: 1 Tese - Rafael Penna.pdf: 5494264 bytes, checksum: 3a53496319b33a5169c281e0bcb7a800 (MD5) / Approved for entry into archive by Vitor de Carvalho (vitor_carvalho_im@hotmail.com) on 2015-06-22T18:57:30Z (GMT) No. of bitstreams: 1 Tese - Rafael Penna.pdf: 5494264 bytes, checksum: 3a53496319b33a5169c281e0bcb7a800 (MD5) / Made available in DSpace on 2015-06-22T18:57:30Z (GMT). No. of bitstreams: 1 Tese - Rafael Penna.pdf: 5494264 bytes, checksum: 3a53496319b33a5169c281e0bcb7a800 (MD5) Previous issue date: 2014 / O avanço tecnológico dos últimos anos ocasionou mudanças na maneira como as pessoas se relacionam. Dispositivos computacionais, sensores e atuadores se fazem presentes na vida das pessoas atualmente, de maneira que os mundos físico e virtual se misturam. Propostas de sistemas físico-cibernéticos (Cyber-Physical Systems ou CPS) surgem com o intuito de integrar os sistemas computacionais com objetos do mundo físico. Neste novo contexto, as discussões dos impactos tecnológicos nos ambientes escolares são importante, estabelecendo novas áreas de pesquisa, como ensino eletrônico, educação à distância, aprendizagem móvel e aprendizagem ubíqua. Dentro dessas áreas, os Ambientes Virtuais de Aprendizagem (AVAs), que são sistemas computacionais disponíveis na internet, destinados ao suporte de atividades mediadas pelas tecnologias de informação e comunicação, são bastante utilizados e estudados. Esses ambientes podem ser identificados por uma série de características que envolvem interação entre alunos e professores, oportunidades de socialização e concepção de informação, propostas pedagógicas, representação do espaço virtual, entre outras. No entanto, os AVAs costumam apresentar possibilidades restritas de lidar com as informações do mundo físico. Esta tese tem como foco a integração de elementos reais/físicos em AVAs, através de interfaces humano-computador avançadas. Para tanto, propõe-se a definição de Ambientes Físico- Virtuais de Aprendizagem, discutindo suas características e um modelo conceitual de referência. Por fim, a plataforma Toogle, proposta para implementação de sistemas físicocibernéticos, é aprimorada e utilizada no desenvolvimento desses novos espaços. / Technological advances in recent years has brought about changes in the way people relate. Computing devices, sensors and actuators are present in the in people's lives today, in a way that the physical and virtual worlds mix. Proposals of Cyber-Physical Systems (CPS) arise in order to integrate computer systems with the physical world objects.In this new context, discussions about technological impacts on school environments are important, establishing new areas of research, such as e-learning, distance education, mobile learning and ubiquitous learning. Within these areas, the Virtual Learning Environments (VLEs), which are computer systems available on the Internet, intended to support activities mediated by information and communication technologies, are widely used and studied. These environments can be identified by a number of features that involve interaction between students and teachers, socialization opportunities, educational proposals, representation of virtual space, among others. However, VLEs often have limited possibilities to deal with the information of the physical world. This dissertation focuses on the integration of real / physical elements in VLEs, through advanced human-computer interfaces. We propose the definition of Cyber-Physical Learning Environments, discussing their characteristics and a reference conceptual model. Finally, the Toogle plataform, proposed to implement cyber-physical systems, is enhanced and used to develop these new spaces.

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Cyber-physikalische Systeme (CPS) sind eine erweitere Sicht auf eingebettete Systeme, die die konkreten umgebenden Elemente in das Systemdesign einbeziehen. Das Design solcher Systeme erfordert neue Herangehensweisen: Während beispielsweise in "normalen" verteilten Systemen Aspekte wie "Bewegung" oder "Ort" möglichst transparent und damit für den Nutzer unsichtbar gestaltet werden, benötigen CPS-Anwendungen häufig Bewusstsein für Bewegung oder Ort, d.h., sie sind _motion aware_ oder _location aware_. Die Professur "Betriebssysteme" der TUC hat sich die Frage gestellt, wie eine generische Unterstützung für solche verteilte mobile Systeme aussehen könnte. Im Vortrag werden Probleme, Konzepte und erste Lösungsansätze für ein künftiges Betriebssystem für diese Art von Systemen vorgestellt.

To ease development and lower the entry barrier for new adopters many development environments offer visual means to edit complex data. Cyber-physical systems are a perfect candidate for such manipulations since they are usually described in the form of isolated, well defined components that can be manipulated individually. The physical parts of such systems often can be directly translated into real world objects and allowing the developer to interact with those in a familiar manner can greatly increase the usability and agility of the development process. In this thesis we focus on the exploration of interactive manipulation of hybrid system models. Our research examines a solution based on the Acumen simulation environment. We describe the tight integration between the textual model and 3D visualisation, go into detailed analysis of the implementation and use case-studies to illustrate concrete applications

Les dernières années ont vu le développement de recherches portant sur l'interaction physique entre les robots aériens et leur environnement, accompagné de l'apparition de nombreux nouveaux systèmes mécaniques et approches de régulation. La communauté centrée autour de la robotique aérienne observe actuellement un déplacement de paradigmes des approches classiques de guidage, de navigation et de régulation vers des tâches moins triviales, telle le développement de l'interaction physique entre robots aériens et leur environnement. Ceci correspond à une extension des tâches dites de manipulation, du sol vers les airs. Cette thèse contribue au domaine de la manipulation aérienne en proposant un nouveau concept appelé MAGMaS, pour " Multiple Aerial Ground Manipulator System ". Les motivations qui ont conduites à l'association de manipulateurs terrestres et aériens pour effectuer des tâches de manipulation coopérative, résident dans une volonté d'exploiter leurs particularités respectives. Les manipulateurs terrestres apportant leur importante force et les manipulateurs aériens apportant leur vaste espace de travail. La première contribution de cette thèse présente une modélisation rigoureuse des MAGMaS. Les propriétés du système ainsi que ses possibles extensions sont discutées. Les méthodes de planning, d'estimation et de régulation nécessaire à l'exploitation des MAGMaS pour des tâches de manipulation collaborative sont dérivées. Ce travail propose d'exploiter les redondances des MAGMaS grâce à un algorithme optimal d'allocation de forces entre les manipulateurs. De plus, une méthode générale d'estimation de forces pour robots aériens est introduite. Toutes les techniques et les algorithmes présentés dans cette thèse sont intégrés dans une architecture globale, utilisée à la fois pour la simulation et la validation expérimentale. Cette architecture est en outre augmentée par l'addition d'une structure de télé-présence, afin de permettre l'opération à distances des MAGMaS. L'architecture générale est validée par une démonstration de levage de barre, qui est une application représentative des potentiels usages des MAGMaS. Une autre contribution relative au développement des MAGMaS consiste en une étude exploratoire de la flexibilité dans les objets manipulés par un MAGMaS. Un modèle du phénomène vibratoire est dérivé afin de mettre en exergue ses propriétés en termes de contrôle. La dernière contribution de cette thèse consiste en une étude exploratoire sur l'usage des actionneurs à raideur variable dans les robots aériens, dotant ces systèmes d'une compliance mécanique intrinsèque et de capacité de stockage d'énergie. Les fondements théoriques sont associés à la synthèse d'un contrôleur non-linéaire. L'approche proposée est validée par le biais d'expériences reposant sur l'intégration d'un actionneur à raideur variable léger sur un robot aérien. / In recent years, the subject of physical interaction for aerial robots has been a popular research area with many new mechanical designs and control approaches being proposed. The aerial robotics community is currently observing a paradigm shift from classic guidance, navigation, and control tasks towards more unusual tasks, for example requesting aerial robots to physically interact with the environment, thus extending the manipulation task from the ground into the air. This thesis contributes to the field of aerial manipulation by proposing a novel concept known has Multiple Aerial-Ground Manipulator System or MAGMaS, including what appears to be the first experimental demonstration of a MAGMaS and opening a new route of research. The motivation behind associating ground and aerial robots for cooperative manipulation is to leverage their respective particularities, ground robots bring strength while aerial robots widen the workspace of the system. The first contribution of this work introduces a meticulous system model for MAGMaS. The system model's properties and potential extensions are discussed in this work. The planning, estimation and control methods which are necessary to exploit MAGMaS in a cooperative manipulation tasks are derived. This works proposes an optimal control allocation scheme to exploit the MAGMaS redundancies and a general model-based force estimation method is presented. All of the proposed techniques reported in this thesis are integrated in a global architecture used for simulations and experimental validation. This architecture is extended by the addition of a tele-presence framework to allow remote operations of MAGMaS. The global architecture is validated by robust demonstrations of bar lifting, an application that gives an outlook of the prospective use of the proposed concept of MAGMaS. Another contribution in the development of MAGMaS consists of an exploratory study on the flexibility of manipulated loads. A vibration model is derived and exploited to showcase vibration properties in terms of control. The last contribution of this thesis consists of an exploratory study on the use of elastic joints in aerial robots, endowing these systems with mechanical compliance and energy storage capabilities. Theoretical groundings are associated with a nonlinear controller synthesis. The proposed approach is validated by experimental work which relies on the integration of a lightweight variable stiffness actuator on an aerial robot.

This report studies how a digital twin can be utilized through offlinerobot programming and simulation for a robot packaging line;additionally, the advantages and challenges of a robot digital twin arereported. This thesis project and the robot simulation is done incollaboration with Ikea Industry.The obtained result was in form of a digital twin which is a digital copyof a physical robot cell at Ikea Industry’s packaging line. The resultsshow that a digital twin can indeed be utilized for layout planning androbot optimization. An energy consumption chart which depends on thetime taken to package ten boards was created. This chart can be used forfurther optimization of the robot cell.The study also shows that a digital twin can save time and money,especially in the design phase, for medium to small companies that donot have the resources to create a dedicated physical robot cell fortesting.

The focus of this thesis is to utilize many of today’s current technologies to design a communication protocol that allows different devices to be incorporated into a system that can facilitate the flow of information between a user and a world of digital data. The protocol will take advantage of individual benefits from NFC, Bluetooth and cloud computing in its design to make the underlying complexity as transparent to the user as possible. Some of the main problems, such as security and reliability, are discussed and how they are incorporated into the core design of the protocol. The protocol is then applied to a case study to see how it can be utilized to create an integrity preserving system for managing medical records in a healthcare environment. The results from the case study gives merit to guidelines provided by the protocol specifications, making a system implementation based on the protocol theoretically possible. A real system implementation is required to verify the results extracted from the case study. / Denna uppsats fokuserar på att använda många av dagens teknologier för att konstruera ett kommunikationsprotokoll som möjliggör för olika enheter att inkorporeras i ett system som underlättar informationsflödet mellan en användare och en värld av digital data. Protokollet utnyttjar olika individuella fördelar hos NFC, Bluetooth and molntjänster i dess design för att göra den underliggande komplexiteten så transparant som möjligt för användaren. Några av de främsta problemen, så som säkerhet och tillförlitlighet, diskuteras och hur de inkorporeras i hjärtat av protokollet. Protokollet appliceras sedan i en fallstudie för att se hur det kan användas för att skapa ett system för sjukjournaler som bevarar integriteten hos patienter. Resultatet från fallstudien pekar mot att de riktlinjer som gavs av protokollspecifikationerna fungerar för att göra en systemimplementation på en teoretisk nivå. En verklig systemimplementation skulle behövas för att verifiera de resultat som framgår ur fallstudien.