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

It is envisioned that future cyber-physical systems will provide a more convenient living and working environment. However, such systems need inevitably to collect and process privacy-sensitive information. That means the benefits come with potential privacy leakage risks. Nowadays, this privacy issue receives more attention as a legal requirement of the EU General Data Protection Regulation. In this thesis, privacy-by-design approaches are studied where privacy enhancement is realized through taking privacy into account in the physical layer design. This work focuses in particular on cyber-physical systems namely sensor networks and smart grids. Physical-layer performance and privacy leakage risk are assessed by hypothesis testing measures. First, a sensor network in the presence of an informed eavesdropper is considered. Extended from the traditional hypothesis testing problems, novel privacy-preserving distributed hypothesis testing problems are formulated. The optimality of deterministic likelihood-based test is discussed. It is shown that the optimality of deterministic likelihood-based test does not always hold for an intercepted remote decision maker and an optimal randomized decision strategy is completely characterized by the privacy-preserving condition. These characteristics are helpful to simplify the person-by-person optimization algorithms to design optimal privacy-preserving hypothesis testing networks. Smart meter privacy becomes a significant issue in the development of smart grid technology. An innovative scheme is to exploit renewable energy supplies or an energy storage at a consumer to manipulate meter readings from actual energy demands to enhance the privacy. Based on proposed asymptotic hypothesis testing measures of privacy leakage, it is shown that the optimal privacy-preserving performance can be characterized by a Kullback-Leibler divergence rate or a Chernoff information rate in the presence of renewable energy supplies. When an energy storage is used, its finite capacity introduces memory in the smart meter system. It is shown that the design of an optimal energy management policy can be cast to a belief state Markov decision process framework. / <p>QC 20170815</p>

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.

Aktuelle ökonomische Trends, wie die zunehmende Globalisierung und die wachsende Technisierung und Individualisierung vieler Konsumgüter, führen im Hinblick auf die zur Fertigung dieser Güter eingesetzte Automatisierungstechnik zu steigender Komplexität und hohen Flexibilitätsanforderungen. Ein Konzept zur Adressierung dieser Anforderungen ist die Auslegung von automatisierten Anlagen als modulares System flexibel kombinierbarer cyber-physischer Komponenten. Die namensgebende Einheit von mechatronischem Bauteil und lokaler Rechenkapazität ermöglicht Herstellern solcher Komponenten, Softwarebausteine für typische Steuer-, Bedien- oder Diagnoseaufgaben gebrauchsfertig vorzubereiten und so den (Re-)Engineeringaufwand bei der (Um-)Gestaltung des Gesamtsystems deutlich zu reduzieren. Allerdings stellt diese Vision hohe Ansprüche an die zugrundeliegende Softwarearchitektur, die von den derzeit zur Realisierung automatisierter Systeme eingesetzten Technologien nicht vollständig erfüllt werden. Das Paradigma der Agentenorientierung ist ein tragfähiger Ansatz zur Realisierung solcher lose gekoppelten verteilten Systeme und stellt durch leistungsfähige Interaktionsmechanismen sowie die enge Integration von semantischem Wissen zusätzliche Funktionalität in Aussicht: Als Agenten ausgelegte Komponenten könnten auch die logische Vernetzung untereinander während der Inbetriebnahme, nach Umrüstungen oder in Reaktion auf Betriebsstörungen teilweise selbst übernehmen. Dadurch ergeben sich Fähigkeiten wie Selbstkonfiguration und Selbstregeneration, die in der Fachliteratur unter dem Begriff Self-X zusammengefasst werden. Die fehlende Echtzeitfähigkeit, insbesondere in Bezug auf besagte Interaktionsmechanismen, hat jedoch bisher die Einsetzbarkeit von Agentensystemen in der Automatisierung limitiert und die Ausschöpfung der genannten Potentiale behindert. Deshalb wird in dieser Dissertation eine echtzeitfähige Laufzeitumgebung für Softwareagenten entworfen und anschließend die Überarbeitung bestehenden Kommunikationsmechanismen im Hinblick auf ihre Echtzeitfähigkeit vorgenommen. In diesem Kontext wird mit dem Konzept der semantischen Adressierung eine vielfältig einsetzbare Möglichkeit geschaffen, Nachrichten an ausgewählte Gruppen von Agenten mit bestimmten, semantisch beschriebenen Eigenschaften zur verschicken. Die dabei zur Wissensrepräsentation genutzten Taxonomie-Bäume bieten ein für viele Aufgabenstellungen ausreichendes Maß an Ausdrucksstärke und erlauben zudem die Verarbeitung unter harten Echtzeitbedingungen. Abschließend werden die geschaffenen Mechanismen in einem Antwortzeitmodell abgebildet, mit dem das rechtzeitige Reagieren eines Agentensystems auf lokal oder verteilt zu behandelnde Ereignisse überprüft und nachgewiesen werden kann. Damit wird ein Hauptkritikpunkt von Agentensystemen adressiert, was zu einer nachhaltigen Steigerung der Akzeptanz des Agentenparadigmas führen könnte. Während große Teile der erarbeiten Lösung als allgemeingültige Grundlagenforschung verstanden werden können, wird bei der Formulierung von Anforderungen, der Darstellung von Beispielen und der Erläuterung von Entwurfsentscheidungen immer wieder auf automatisierungstechnische Belange Bezug genommen. Außerdem wird am Ende der Arbeit eine kritische Bewertung der Ergebnisse vor dem Hintergrund eines möglichen Einsatzes in zukünftigen Automatisierungssystemen durchgeführt und damit das Gesamtbild abgerundet.

In algorithmic computing, the program follows a predefined set of rules – the algorithm. The analyst/designer of the program analyzes the intended tasks of the program, defines the rules for its expected behaviour and programs the implementation. The creators of algorithmic software must therefore foresee, identify and implement all possible cases for its behaviour in the future application! However, what if the problem is not fully defined? Or the environment is uncertain? What if situations are too complex to be predicted? Or the environment is changing dynamically? In many such cases algorithmic computing fails. In such situations, the software needs an additional degree of freedom: Autonomy! Autonomy allows software to adapt to partially defined problems, to uncertain or dynamically changing environments and to situations that are too complex to be predicted. As more and more applications – such as autonomous cars and planes, adaptive power grid management, survivable networks, and many more – fall into this category, a gradual switch from algorithmic computing to autonomic computing takes place. Autonomic computing has become an important software engineering discipline with a rich literature, an active research community, and a growing number of applications.:Introduction 5 1 A Process Data Based Autonomic Optimization of Energy Efficiency in Manufacturing Processes, Daniel Höschele 9 2 Eine autonome Optimierung der Stabilität von Produktionsprozessen auf Basis von Prozessdaten, Richard Horn 25 3 Assuring Safety in Autonomous Systems, Christian Rose 41 4 MAPE-K in der Praxis - Grundlage für eine mögliche automatische Ressourcenzuweisung, in der Cloud Michael Schneider 59

Industry 4.0 is a new generation of manufacturing based on robotics, automation and new trends in ICT. It was for the first time introduced at the Hannover Fair in 2011 and has been part of the European, German and Czech discourse since then. This Master thesis deals with the topic of Industry 4.0 in the Czech Republic and assesses to what extent the concept is coming to the Czech Republic as a result of a top-down (EU) or horizontal (Germany) Europeanization. The thesis came to the conclusion that there are two perceptions of Industry 4.0. One is narrow and deals with the industrial policy and the other is broad and deals with society wide implications of the fourth industrial revolution. The debate about Industry 4.0 in the Czech Republic is mainly a result of a horizontal Europeanization based on bilateral agreements and close cooperation between Germany and the Czech Republic in the area of R&D, innovations and business. However, the top-down Europeanization cannot be neglected as the EU provides much broader context where Industry 4.0 is taking place. Moreover, Industry 4.0 gave a new impetus to the digital economy and society in the Czech Republic. It turned into agenda 4.0 and moved forward the debate about digital skills.

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.

The term hydrobatics refers to the agile maneuvering of underwater vehicles. Hydrobatic capabilities in autonomous underwater vehicles (AUVs) can enable increased maneuverability without a sacrifice in efficiency and speed. This means innovative robot designs and new use case scenarios are possible. Benefits and technical challenges related to hydrobatic AUVs are explored in this thesis. The dissertation contributes to new knowledge in simulation, control and field applications, and provides a structured approach to realize hydrobatic capabilities in real world impact areas. Three impact areas are considered - environmental monitoring, ocean production and security. A combination of agility in maneuvering and efficiency in performance is crucial for successful AUV applications. To achieve such performance, two technical challenges must be solved. First, these AUVs have fewer control inputs than degrees of freedom, which leads to the challenge of underactuation. The challenge is described in detail and solution strategies that use optimal control and model predictive control (MPC) are highlighted. Second, the flow around an AUV during hydrobatic maneuvers transitions from laminar to turbulent flow at high angles of attack. This renders flight dynamics modelling difficult. A full 0-360 degree envelope flight dynamics model is therefore derived, which combines a multi-fidelity hydrodynamic database with a generalized component-buildup approach. Such a model enables real-time (or near real-time) simulations of hydrobatic maneuvers including loops, helices and tight turns. Next, a cyber-physical system (CPS) is presented -- it safely transforms capabilities derived in simulation to real-world use cases in the impact areas described. The simulator environment is closely integrated with the robotic system, enabling pre-validation of controllers and software before hardware deployment. The small and hydrobatic SAM AUV (developed in-house at KTH as part of the Swedish Maritime Robotics Center) is used as a test platform. The CPS concept is validated by using the SAM AUV for the search and detection of a submerged target in field operating conditions. Current research focuses on further exploring underactuated control and motion planning. This includes development of real-time nonlinear MPC implementations running on AUV hardware, as well as intelligent control through feedback motion planning, system identification and reinforcement learning. Such strategies can enable real-time robust and adaptive control of underactuated systems. These ideas will be applied to demonstrate new capabilities in the three impact areas. / Termen hydrobatik avser förmåga att utföra avancerade manövrer med undervattensfarkoster. Syftet är att, med bibehållen fart och räckvidd, utvigda den operationella förmågan i manövrering, vilket möjliggör helt nya användningsområden för maximering av kostnadseffektivitet. I denna avhandling undersöks fördelar och tekniska utmaningar relaterade till hydrobatik som tillämpas på undervattensrobotar, vanligen kallade autonoma undervattensfarkoster (AUV). Avhandlingen bidrar till ny kunskap i simulering, reglering samt tillämpning i experiment av dessa robotar genom en strukturerad metod för att realisera hydrobatisk förmåga i realistiska scenarier.  Tre nyttoområden beaktas - miljöövervakning, havsproduktion och säkerhet. Inom dessa nyttoområden har ett antal scenarios identifierats där en kombination av smidighet i manövrerbarhet samt effektivitet i prestanda är avgörande för robotens förmåga att utföra sin uppgift. För att åstadkomma detta måste två viktiga tekniska utmaningar lösas. För det första har dessa AUVer färre styrytor/trustrar än frihetsgrader, vilket leder till utmaningen med underaktuering. Utmaningen beskrivs i detalj och lösningsstrategier som använder optimal kontroll och modellprediktiv kontroll belyses. För det andra är flödet runt en AUV som genomför hydrobatiska manövrar komplext med övergång från laminär till stark turbulent flöde vid höga anfallsvinklar. Detta gör flygdynamikmodellering svår. En full 0-360 graders flygdynamikmodell härleds därför, vilken kombinerar en multi-tillförlitlighets hydrodynamisk databas med en generaliserad strategi för komponentvis-superpositionering av laster. Detta möjliggör prediktering av hydrobatiska manövrar som t.ex. utförande av looping, roll, spiraler och väldigt snäva svängradier i realtids- eller nära realtids-simuleringar. I nästa steg presenteras ett cyber-fysikaliskt system (CPS) – där funktionalitet som härrör från simuleringar kan överföras till de verkliga användningsområdena på ett effektivt och säkert sätt. Simulatormiljön är nära integrerad i robot-miljön, vilket möjliggör förvalidering av reglerstrategier och mjukvara innan hårdvaruimplementering. En egenutvecklad hydrobatisk AUV (SAM) används som testplattform. CPS-konceptet valideras med hjälp av SAM i ett realistiskt sceanrio genom att utföra ett sökuppdrag av ett nedsänkt föremål under fältförhållanden. Resultaten av arbetet i denna licentiatavhandling kommer att användas i den fortsatta forskningen som fokuserar på att ytterligare undersöka och utveckla ny metodik för reglering av underaktuerade AUVer. Detta inkluderar utveckling av realtidskapabla ickelinjära MPC-implementeringar som körs ombord, samt AI-baserade reglerstrategier genom ruttplaneringsåterkoppling, autonom systemidentifiering och förstärkningsinlärning. Sådan utveckling kommer att tillämpas för att visa nya möjligheter inom de tre nyttoområdena. / SMaRC

Detecting anomalies in computer-based systems, including Cyber-Physical Systems (CPS), has attracted a large interest recently. Behavioral anomalies represent deviations from what is regarded as the nominal expected behavior of the system. Both Process science and Data science can yield satisfactory results in detecting behavioral anomalies. Within Process Mining, Conformance Checking addresses data retrieval and the connection of data to behavioral models with the aim to detect behavioral anomalies. Nowadays, computer-based systems are increasingly complex and require appropriate validation, monitoring, and maintenance techniques. Within complex computer-based systems, the European Rail Traffic Management System/European Train Control System (ERTMS/ETCS) represents the specification of a standard Railway System integrating heterogeneous hardware and software components, with the aim of providing international interoperability with trains seemingly interacting within standardized infrastructures. Compliance with the standard as well as expected behavior is essential, considering the criticality of the system in terms of performance, availability, and safety. To that aim, a Process Mining Conformance Checking process can be employed to validate the requirements through run-time model-checking techniques against design-time process models. A Process Mining Conformance Checking methodology has been developed and applied with the goal of validating the behavior exposed by an ERTMS/ETCS system during the execution of specific scenarios. The methodology has been tested and demonstrated correct classification of valid behaviors exposed by the ERTMS/ETCS system prototype. Results also showed that the Fitness metric developed in the methodology allows the detection of latent errors in the system before they can generate any failures.