This thesis investigates the relationships between performance, workload, and situation awareness at varying levels of automation. The relationships observed in this study are compared to a description put forth to formalize the conventional interpretation of the trade-off between the benefits of automation during routine operation and the costs under conditions of automation failure. The original work stipulated that this “routine-failure trade-off” is likely a simplification affected by contextual factors. This work therefore aimed to i) provide empirical evidence to support or refute the trade-off and ii) to identify possible extenuating factors. The results generally supported the routine-failure trade-off, and considered in light of the functional structure of the task suggested that the relationships between goals and individual functions specific to a given task seem to affect the overall costs and benefits of automation through the mechanism of selective reliance. Further work is required to validate the findings of this study.

Despite increased awareness of threats against Critical Infrastructure (CI), securing of Supervisory Control and Data Acquisition (SCADA) systems remains incomplete. The majority of research focuses on preventative measures such as improving communication protocols and implementing security policies. New attempts are being made to use commercial Intrusion Detection System (IDS) software to protect SCADA systems. These have limited effectiveness because the ability to detect specific threats requires the context of the SCADA system. SCADA context is defined as any information that can be used to characterise the current status and function of the SCADA system. In this thesis the standard IDS model will be used with the varying SCADA data sources to provide SCADA context to a signature and anomaly detection engine. A novel addition to enhance the IDS model will be to use the SCADA data sources to simulate the remote SCADA site. The data resulting from the simulation is used by the IDS to make behavioural comparison between the real and simulated SCADA site. To evaluate the enhanced IDS model the specific context of a water and wastewater system is used to develop a prototype. Using this context it was found that the inflow between sites has similar diurnal characteristic to network traffic. This introduced the idea of using inflow data to detect abnormal behaviour for a remote wastewater site. Several experiments are proposed to validate the prototype using data from a real SCADA site. Initial results show good promise for detecting abnormal behaviour and specific threats against water and wastewater SCADA systems.

Ο στόχος της παρούσας διπλωματικής εργασίας είναι ο έλεγχος και αποκατάσταση της θερμοκρασίας και της υγρασίας από απόσταση σε ένα χώρο ο οποίος απαιτεί συγκεκριμένες τιμές των δύο παραπάνω μεγεθών. Ένας τέτοιος χώρος μπορεί να είναι μια αίθουσα χειρουργείου ή μια μονάδα εντατικής θεραπείας. Ανάλογα με τις επιθυμητές θερμοκρασίες που έχουν τεθεί, ενεργοποιούνται οι βάνες του θερμαντικού ή του ψυκτικού στοιχείου. Όταν η υγρασία του χώρου είναι κατώτερη της επιθυμητής, ενεργοποιείται η τρίοδος βάνα ατμού. Όταν η υγρασία του χώρου είναι υψηλότερη της επιθυμητής ενεργοποιείται η τρίοδος βάνα του ψυκτικού στοιχείου για επιπλέον ψύξη (αφύγρανση) και παράλληλα, αν χρειαστεί ενεργοποιεί και την τρίοδο βάνα του θερμαντικού στοιχείου για να διατηρήσει τη θερμοκρασία του χώρου στα επιθυμητά επίπεδα. Όλα αυτά υλοποιούνται με τη βοήθεια του PLC S7 300 όσο αφορά το λειτουργικό μέρος, της μονάδας CP 343-1 Lean για την επικοινωνία της εγκατάστασης από απόσταση μέσω ethernet, το LabVIEW 9.0 για την υλοποίηση του SCADA(Supervisory Control and Data Acquisition) και τέλος ο OPC SERVER της National instrument για την επικοινωνία του PLC S7 300 με το LabVIEW 9.0. / The scope of this thesis is the control and restoration of temperature and humidity from distance in environments which demand precise values of these two measurements. Such an environment can be an Operating Room or an Intensive Care Unit. The valves of the heating or the cooling element are activated according to the desired temperature. When room humidity is below the desired one, the dew three-port valve is activated. On the other hand when humidity is above the desired level the three-port valve of the cooling element is activated for further cooling (dehydration) and at the same time, if needed, it activates the three-port valve of the heating element to maintain the room temperature at the desired level. This is possible with the use of PLC S7 300, when it comes to the functional part, the CP 343-1 Lean unit for the distant communication of the installation through the use of Ethernet, the LabVIEW 9.0 for the implementation of the SCADA(Supervisory Control and Data Acquisition) and the OPC SERVER of the National Instrument for the communication of the PLC S7 300 with LabVIEW 9.0.

Dissertação (mestrado) - Universidade Federal de Santa Catarina, Centro Tecnológico, Programa de Pós-Graduação em Engenharia de Automação e Sistemas, Florianópolis, 2011 / Made available in DSpace on 2012-10-26T04:49:05Z (GMT). No. of bitstreams: 1 299173.pdf: 2790960 bytes, checksum: 3a2ce4ee4fd5dc7d5f239e8d7350372c (MD5) / Esta dissertação descreve uma proposta de arquitetura de software para aplicações típicas de Sistemas de Supervisão e Aquisição de Dados (SCADA), utilizando a World Wide Web como plataforma. O objetivo é mostrar como os requisitos característicos de aplicações SCADA podem ser incorporados em uma arquitetura condizente com os princípios arquiteturais que fundamentam a Web, dado que as arquiteturas comumente propostas para SCADA, baseadas em Chamadas Remota de Procedimento (RPC, na sigla em inglês), apresentam problemas de forte acoplamento, manutenção de estado e interfaces especializadas, que dificultam uma integração plena com a Web. Para isto é projetada uma Arquitetura Orientada a Recursos (ROA, na sigla em inglês), que utiliza as tecnologias da Web (HTTP, URI e tipos de mídia) de acordo com seus princípios de arquitetura. A arquitetura é projetada utilizando como cenário uma Célula Flexível de Manufatura (CFM), ambiente característico de um SCADA. As funcionalidades típicas de SCADA são projetadas como recursos e expostas para clientes que podem exibir sinóticos em uma IHM, esperar pelo disparo de alarmes, controlar o processo, configurar dispositivos e abastecer com dados sistemas de MES/ERP. Uma implementação é realizada, para demonstrar como se dá a interação entre aplicações na arquitetura. Nesta implementação um aplicativo SCADA (Mango M2M) teve sua arquitetura de software estudada e modificada para se adaptar as necessidades da arquitetura proposta. Como resultado, obtém-se uma arquitetura que cobre os requisitos típicos de aplicações SCADA, integrando-se à Web de forma condizente com seus princípios arquiteturais. Posteriormente a arquitetura projetada é comparada com uma arquitetura baseada em Web Services RPC e as diferenças em termos de integração com a Web e no cumprimento dos requisitos típicos de SCADA são analisadas

Conselho Nacional de Desenvolvimento Científico e Tecnológico / This master thesis analyses and implements a stand-alone photovoltaic system based on decentralized Multi String topology. The proposed system is composed of a set of DCDC converters linked to the PV arrays of panels, a bidirectional converter to perform the control of the charge/discharge process of the battery bank and ensure the specifications of DC link and a full-bridge inverter that feed the AC loads. Therefore, all operation modes that the stand-alone PV system can work are presented and analyzed. As the chief aim is to ensure the energy balance of the stand-alone PV system, are presented independents control loops for each converter of the PV system and a propose of a supervisory control that, based on information about the conditions of the DC link and the bank of batteries, defines each operation mode should be active, in order to maximize the power extracted from the PV arrays, the life cycle of the battery bank and ensuring the uninterrupted feeding of energy to the loads. Finally, simulation and experimental results validate the operation of the proposed system under different load and solar radiation conditions. / Este trabalho analisa e implementa um sistema fotovoltaico autônomo baseado no conceito de topologia descentralizada do tipo Multi String . O sistema proposto é constituído de um conjunto de conversores CC-CC vinculados aos arranjos de painéis, um conversor bidirecional para controle da carga e descarga do banco de baterias e um inversor de saída que fornece a alimentação CA as cargas. Todos os modos de operação em que o sistema PV autônomo proposto pode funcionar são apresentados e analisados. Com o objetivo principal de assegurar o balanço de energia do sistema PV autônomo, são apresentadas malhas de controle independentes para cada conversor do sistema PV e a proposta de um sistema supervisório o qual, de posse de informações sobre o estado do barramento CC e banco de baterias, define qual modo de operação deve estar ativo, maximizando a potência extraída dos arranjos PV, a vida útil do banco de baterias e garantindo um fornecimento contínuo de energia às cargas. Por fim, resultados de simulação e experimentais validam o funcionamento do sistema proposto em diferentes condições de carga e radiação solar.

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES) / O manejo avícola é uma atividade criteriosa a ser realizada em galpões de criação de frangos de corte. Nele estão inseridas tarefas como manutenção da higiene, sanidade e, principalmente, controle de ambiência. A temperatura e a umidade são os principais parâmetros para que se atinja o equilíbrio térmico. No entanto, grande parte dos sistemas de controle de ambiência para aviários disponíveis no mercado não apresentam a eficiência desejável, caracterizada pela manutenção da temperatura e da umidade e máxima homogeneização possível destas variáveis ao longo do ambiente. Ao contrário disso, o que se observa é que, mesmo na presença de sistemas semiautomáticos de controle, as principais decisões de manejo ainda dependem da percepção do especialista (avicultor) para observar o processo e configurar os parâmetros do controlador. Além de ser ineficiente, esta atividade também é incômoda e propensa a erros. Esta dissertação propõe um framework para o controle, a supervisão e a tomada de decisões em processos avícolas. Inicialmente, é sistematizada a coleta de um conjunto de eventos relacionados à temperatura e umidade, de maneira a prover mais detalhes sobre as condições climáticas internas do aviário. A partir disso, são apresentadas as etapas de modelagem e de síntese de controle com base na Teoria de Controle Supervisório (TCS), em suas versões monolítica e modular local, as quais são comparadas e fundamentam a implementação física, em microcontrolador. As vantagens da abordagem escolhida em relação à homogeneização da temperatura e da umidade em aviários são ilustradas via simulação e comparadas a um cenário tradicional de manejo. Resultados finais ainda fornecem uma opção de supervisão remota do processo utilizando uma ferramenta SCADA. / Poultry management is a judicious activity to be carried out in poultry farms. In it are inserted tasks like maintenance of hygiene, sanity and, mainly, ambience control. Tem- perature and humidity are the main parameters for achieving thermal equilibrium. However, most ambience control systems for aviaries available on the market don’t have the desirable efficiency, characterized by the maintenance of temperature and humidity and maximum possible homogenization of these variables throughout the environment. Instead, what is observed is that, even in the presence of semiautomatic control systems, the main management decisions still depend on the expert’s perception (aviculturist) to observe the process and configure the parameters of the controller. In addition to being inefficient, this activity is also cumbersome and prone to errors. This dissertation proposes a framework for control, supervision and decision making in poultry process. Initially, it is systematized the collection of a set of events related to temperature and humidity, in order to provide more details about the internal climatic conditions of the aviary. From this, the modeling and control synthesis steps are presented based on the Supervisory Control Theory (TCS), in its monolithic and modular versions, which are compared, and give support the physical implementation in microcontroller. The advantages of the approach chosen in relation to the homo- genization of temperature and humidity in aviaries are illustrated by simulation and compared to a traditional management scenario. Final results still provide a remote process supervision option using a SCADA tool.

CoordenaÃÃo de AperfeiÃoamento de NÃvel Superior / Na conjuntura atual à possÃvel observar o grave problema de escassez energÃtica com o qual a humanidade se depara. Os derivados de petrÃleo estarÃo se exaurindo nas prÃximas dÃcadas e o tempo geolÃgico necessÃrio para a revitalizaÃÃo do estoque desta energia fÃssil a inviabiliza no longo prazo. Neste contexto, a busca por fontes renovÃveis de energia, como, por exemplo, o biodiesel, torna-se de suma importÃncia. Diversas oleaginosas podem ser empregadas para a produÃÃo de biodiesel, dentre as quais pode ser destacada a mamona. O agronegÃcio da mamona constitui-se numa cadeia produtiva complexa, tornando necessÃrios esforÃos dirigidos para a estruturaÃÃo desta cadeia ainda incipiente. Sistemas a Eventos Discretos (SED) vÃm sendo amplamente utilizados na modelagem de cadeias produtivas, apoiando o processo de planejamento e de gerenciamento de tais sistemas. Dentre as tÃcnicas de modelagem de SED, as redes de Petri destacam-se por propiciarem uma representaÃÃo compacta de um sistema e por permitirem a sua simulaÃÃo e anÃlise. O controle supervisÃrio de SED consiste em sintetizar um supervisor que coordene as atividades de subsistemas de modo que o sistema geral satisfaÃa um conjunto de especificaÃÃes. O objetivo geral deste trabalho foi elaborar um modelo, baseado em redes de Petri, que permitisse o controle supervisÃrio da Cadeia Produtiva do Biodiesel da Mamona (CP/BDMA), com vistas a garantir sua efetividade. Foi desenvolvido um novo mÃtodo de controle supervisÃrio baseado em redes de Petri coloridas, denominado RestriÃÃes de Controle sobre Cores Decompostas (RCCD), sendo tambÃm proposta uma arquitetura para o controle supervisÃrio em sistemas logÃsticos. Idealizou-se um modelo teÃrico da CP/BDMA no qual foi possÃvel ressaltar a importÃncia da coordenaÃÃo de atividades logÃsticas no Ãmbito da cadeia. Foram estabelecidas especificaÃÃes funcionais para o sistema e, em seguida, efetuou-se a avaliaÃÃo do seu desempenho, com base no tempo de ciclo, atravÃs da simulaÃÃo de diversos cenÃrios operacionais. Como conclusÃes, pode-se ressaltar que o mÃtodo RCCD constitui-se em uma eficiente abordagem para o controle de SED, que a modelagem proposta permitiu uma maior compreensÃo acerca do sistema em estudo e que o controle supervisÃrio à uma tÃcnica que pode subsidiar o processo de tomada de decisÃo no Ãmbito CP/BDMA, sendo tambÃm aplicÃvel a outras cadeias produtivas agroindustriais / Nowadays many countries present critical problems related to energy demand-supply equilibrium. The reserves of petroleum-based products are unable to face future demand for the next decades. So, the search for alternative sources of energy has been strongly directed to biodiesel. Several fruit oils can be used as a source for biodiesel production and the castor bean is an example. The castor bean agribusiness is a complex commodity chain, making necessary researches for the conception of this incipient chain. Discrete Event Systems (DES) are largely used in the modeling of commodity chains, aiding the planning and the manage of these systems. Among the DES modeling techniques, the Petri nets stands out for as making a easier a compact representation of a system and for permitting its simulation and analysis. The supervisory control aims for synthesize a supervisor that coordinate the activities of the subsystems in order to satisfy a set of specifications in a general system. The general purpose of this work was create a model, based on Petri nets, that permit the supervisory control of Castor Bean Biodiesel Supply Chain (CBB/SC) in order to guarantee its efficiency and efficacy. It was developed a new method for the supervisory control based on colored Petri nets, called Constraints of Control on Decomposed Colors (CCDC). Also, it was proposed a new framework for the supervisory control in logistics systems. Functional specifications were established for found the system which had its performance evaluated, based on the lead time, through simulation of several operational scenarios. As conclusion, it seems clear that the CCDC method is a consistent approach for DES control, the proposed model helps in a better comprehension about the system in analysis and the supervisory control is a theory that can aid the decision making process in similar chains as CBB/SC

nÃo hà / Esse trabalho propÃe um novo mÃtodo para sÃntese de supervisores em sistemas a eventos discretos, utilizando redes de Petri coloridas, baseado no contexto da teoria de controle supervisÃrio. Como aspecto principal, tem-se a formalizaÃÃo teÃrica e a prova matemÃtica do mÃtodo para sÃntese desses supervisores, denominado RestriÃÃes de Controle sobre Cores Decompostas (RCCD). AlÃmdisso, como consequÃncia, à apresentado ummÃtodo para reduÃÃo do nÃmero de lugares de controle denominado FusÃo de Controladores (FC). Os mÃtodos RCCD e FC sÃo uma extensÃo do trabalho de Moody e Antsaklis, que propÃem, originalmente, um Teorema comprovando a sÃntese de supervisores usando redes de Petri ordinÃrias e, dessa forma, sÃo propostas aqui as extensÃes desse Teorema, para o contexto das redes de Petri coloridas. Nesse caso, explora-se a decomposiÃÃo da matriz de incidÃncia de uma rede de Petri colorida para de…nir lugares de controle que nÃo sÃo con‡itantes em suas aÃÃes, usando o soft CPNTools como ferramenta. A seguir, à realizada a fusÃo desses lugares de controle, obtidos com o RCCD, com a aplicaÃÃo do mÃtodo FC, em que o lugar de controle encontrado, denominado supervisor resultante da fusÃo, atende as mesmas restriÃÃes e contribui com a mesma performance de controle do sistema. / This work proposes a newmethod for synthesis of supervisors in discrete event systems using coloured Petri nets, based in the theory of supervisory control. As a main aspect, there is the theoretical and formal mathematical proof of the method for synthesis of supervisors, called Control Constraints on Decomposed Colors (CCDC). In addition, as a consequence, it is presented a method for reducing the number of control places called Fusion of Controllers (FC). The CCDC and FC methods are an extension of the work of Moody and Antsaklis, they propose, originally a theorem proving the synthesis of supervisors using Petri nets thus are proposed here extensions of this theorem to the context of coloured Petri nets. In this case, it is explored the decomposition of the incidence matrix of a coloured Petri net to de…ne control places that are not con‡icting in their actions, using the soft CPNTools. The following is realized the fusion of these control places obtained with CCDC, with the aplication of the FC method. The obtained place is called the resulting fusion supervisor, where it is found the same constraints and contributes with the same control system performance.

La propulsion des véhicules électriques hybrides parallèles est généralement assurée par un moteur à combustion interne combiné à une machine électrique réversible. Les flux de puissance entre ces deux organes de traction sont déterminés par un algorithme de supervision, qui vise à réduire la consommation de carburant et éventuellement les émissions de certains polluants. Dans la littérature, la théorie de la commande optimale est maintenant reconnue comme étant un cadre puissant pour l’élaboration de lois de commande pour la gestion énergétique des véhicules full-hybrides. Ces stratégies, dénommée « Stratégies de Minimisation de la Consommation Equivalente » (ECMS) sont basée sur le principe du Maximum de Pontryagin. Pour démontrer l’optimalité de l’ECMS, on doit supposer que les limites du système de stockage ne sont pas atteintes durant le cycle de conduite. Il n’est plus possible de faire cette hypothèse lorsque l’on considère les véhicules micro et mild hybrides étudiés dans cette thèse car la variable d’état atteint généralement plusieurs fois les bornes. Des outils mathématiques adaptés à l’étude des problèmes de commande avec contraintes sur l’état sont présentés et appliqués à deux problèmes en lien avec la gestion énergétique. Le premier problème consiste à déterminer le profil optimal de la tension aux bornes d’un pack d’ultra-capacités. Le second problème se concentre sur un système électrique intégrant deux stockeurs. L’accent est mis sur l’étude des conditions d’optimalités valables lorsque les contraintes sur l’état sont actives. Les conséquences de ces conditions pour la commande en ligne sont mises en avant et exploitées afin de concevoir une commande en temps réel. Les performances sont évaluées à l’aide d’un prototype. Une comparaison avec une approche de type ECMS plus classique est également présentée. / Parallel hybrid electric vehicles are generally propelled by an internal combustion engine, which is combined to a reversible electric machine. The power flows between these two traction devices are determined by a supervisory control algorithm, which aims at reducing the fuel consumption and possibly some polluting emissions. In the literature, optimal control theory is now recognized as a powerful framework for the synthesis of energy management strategies for full hybrid vehicles. These strategies are referred to as “Equivalent Consumption Minimization Strategies” (ECMS) and are based on the Pontryagin Maximum Principle. To demonstrate the optimality of ECMS, it must be assumed that the storage system limits are not reached during the drive cycle. This hypothesis cannot be made anymore when considering the micro and mild hybrid vehicles studied in this thesis because the state variable generally reaches several times the boundaries. Some mathematical tools suitable for the study of state constrained optimal control problems are introduced and applied to two energy management problems. The first problem consists in determining the optimal profile of the voltage across a pack of ultra-capacitors. The second problem focuses on a dual storage system. The stress is put on the study of the optimality conditions holding in case of active state constraints. Some consequences of these conditions for the online control are pointed out are exploited for the design of a real-time controller. Its performances are assessed using a demonstrator vehicle. A comparison with a classical ECMS-based approach is also provided.

This dissertation models human intent for a robot navigation task, managed by a human and undertaken by a robot in a dynamic, multi-objective environment. Intent is expressed by a human through a user interface and then translated into a robot trajectory that satisfies a set of human-specified objectives and constraints. For a goal-based robot navigation task in a dynamic environment, intent includes expectations about a path in terms of objectives and constraints to be met. If the planned path drifts from the human's intent as the environment changes, a new path needs to be planned. The intent framework has four elements: (a) a mathematical representation of human intent within a multi-objective optimization problem; (b) design of an interactive graphical user interface that enables a human to communicate intent to the robot and then to subsequently monitor intent execution; (c) integration and adoption of a fast online path-planning algorithms that generate solutions/trajectories conforming to the given intent; and (d) design of metric-based triggers that provide a human the opportunity to correct or adapt a planned path to keep it aligned with intent as the environment changes. Key contributions of the dissertation are: (i) design and evaluation of different user interfaces to express intent, (ii) use of two different metrics, cosine similarity and intent threshold margin, that help quantify intent, and (iii) application of the metrics in path (re)planning to detect intent mismatches for a robot navigating in a dynamic environment. A set of user studies including both controlled laboratory experiments and Amazon Mechanical Turk studies were conducted to evaluate each of these dissertation components.