This is the model obtained in relation to the real system. And, based on this validation, a study and comparison of the various control techniques can be carried out via simulations, with the aim of identifying the be...
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Distributed computing capabilities at the network's edge enable new use cases, e.g., smart factories, industrial internet of things, or autonomous mobility systems. While new applications evolve, managing the reso...
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ISBN:
(纸本)9798350361360;9798350361353
Distributed computing capabilities at the network's edge enable new use cases, e.g., smart factories, industrial internet of things, or autonomous mobility systems. While new applications evolve, managing the resources and being capable of integrating and adjusting the execution of tasks in a distributed edge infrastructure is of great importance. For this, applications need to be migrated between different nodes. These migrations must happen without interruption, allowing the system to meet service requirements while fully utilizing all available hardware resources. Therefore, applications should also be executable on all different compute nodes in a heterogeneous edge system without interfering with each other. To this end, applications should be granted only necessary permission, especially when un-trusted applications are integrated into the system. We, therefore, propose a migration method for isolated applications across heterogeneous compute nodes in service-oriented edge architectures. A service-oriented architecture is used to decouple applications, allowing for flexible scheduling. The migration method enables the fast migration of sandboxed applications based on WebAssembly by utilizing a two-stage migration approach. The concept can utilize multiple communication protocols for management and service communication. We have implemented a proof of concept based on the Zenoh(1) communication protocol. While the time required depends on the communication protocol and the memory size, we achieved migration delays of under 51 milliseconds for smaller applications. By providing a method for fast migration for applications across heterogeneous compute nodes, it is possible for distributed edge infrastructures to run applications independently from each other and adjust the execution node based on changes in the system's environment. By integrating applications into our framework, they are executed isolated and with strict access control, allowing for easier reuse
Cloud technology provides solutions to a variety of software platform and data accessibility issues. However, as the industrial revolution 4.0 progresses, innovations such as healthcare 4.0 smart buildings, IoT enable...
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Research on underwater bionic robotic fish is a major focus in the field of robotics. However, there is still a lack of research on the cross-media movement near the water surface of robotic fish. This paper conducts ...
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ISBN:
(纸本)9798350388084;9798350388077
Research on underwater bionic robotic fish is a major focus in the field of robotics. However, there is still a lack of research on the cross-media movement near the water surface of robotic fish. This paper conducts the experimental research of a water-jumping bionic robotic dolphin. Following the principle of modular design, the body structure of the robotic dolphin is designed from five parts: head, pitch, body, tail, and tail fin. Also, the robotic dolphin's control system is designed, a hardware platform is built from the four modules of decision-making, communication, execution, and perception, and the propulsion algorithm is designed based on experimental requirements. Finally, an experimental platform is built and experimental research on the robotic dolphin is conducted. The results show that the jumping height of the robotic dolphin increases with the increase of the tail fin swing frequency, first increasing and then decreasing with the increase of the tail fin swing amplitude, and increases with the increase of the water-jumping angle. When the swing frequency is 2.5Hz, the swing amplitude is 30 degrees degree and the water-jumping angle is 55 degrees, the water outlet height reaches the maximum value.
The proceedings contain 71 papers. The topics discussed include: implementation of system engineering methodologies into mechatronics applications: pneumatic control algorithm;autonomous beach cleaner robot: a mechatr...
ISBN:
(纸本)9798331517519
The proceedings contain 71 papers. The topics discussed include: implementation of system engineering methodologies into mechatronics applications: pneumatic control algorithm;autonomous beach cleaner robot: a mechatronic and control approach for sustainable coastal pollution management at Peru;application of hybrid variable admittance force tracking and fixed-time position control for robot interaction tasks;exploring the benefits of alternative cost functions for nonlinear model predictive control;equilibrium point selection and two stage optimal control of quadrotor under actuator failure;design of a two-way communication robot for deafblind people: design to improve interaction, inclusion and accessibility;and improving postural stability: a quasi-sliding mode control approach for bio-mechanical system.
The traditional key collaboration operation and maintenance method in communication networks mainly focuses on improving the quantum communication key rate, but overly relies on the operation and maintenance mode, whi...
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In industrial systems, automated electric drives are subjected to various internal disturbances as well as external disturbances. These disturbing influences do not allow to provide appropriate control accuracy and ne...
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According to the 5G development strategy, the coexistence of URLLC service and eMBB service will become a typical application scenario at the initial stage of 5G deployment. As the two services have the demand of wire...
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The pursuit of process automation remains a persistent objective across various industries, including manufacturing, agriculture, and medicine. This drive compels us to continually refine and innovate tools capable of...
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ISBN:
(纸本)9789819756117;9789819756124
The pursuit of process automation remains a persistent objective across various industries, including manufacturing, agriculture, and medicine. This drive compels us to continually refine and innovate tools capable of handling intricate tasks. Concurrently, as we enhance these tools, the dynamics of human-machine interaction (HMI) evolve. Hand gestures present a promising avenue for HMI due to their innate adaptability and ease of use. Integrating Hand Gesture Recognition (HGR) into the control systems of devices and robots has the potential to streamline operations and simplify complex tasks. In this study, we introduce a methodology aimed at enhancing the control of mobile robots using hand gestures to convey movement instructions. Specifically, we leverage gestures from the Mexican Sign Language alphabet as a means of communication. From the 29 alphabet signs, we selected 12 that are distinct from each other and easy to perform and consist only static signs. Each gesture corresponds to a specific movement command for the robot. Geometric features are extracted from images, and in our experiments, we implement convolutional neural networks to classify the gestures. We also use four other classifiers to compare results.
Parallel programming is a method we can use to increase processor performance in parallel computers because almost all multicore computers integrate more than one individual processor and cache memory. There are sever...
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