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IEEE international Workshop on Intelligent Robots and systems (IROS)

作者： H.A. Talebi R.V. Patel H. Asmer Department of Electrical & Computer Engineering Concordia University Montreal QUE Canada Space Technologies Canadian Space Agency St Hubert QUE Canada

This paper presents dynamic modeling of flexible link manipulators using artificial neural networks. A state-space representation is considered for a neural identifier. The recurrent network configuration is obtained by a combination of feedforward network architectures with dynamical elements in the form of stable filters. To guarantee the boundedness of the states, joint PD control is introduced in the system. The method can be considered both as an online identifier that can be used as a basis for designing neural network controllers as well as an off-line learning scheme to compute deflections due to link flexibility for evaluating forward dynamics. The performance of the proposed neural identifier is evaluated by identifying the dynamics of different flexible-link manipulators. To demonstrate the effectiveness of the algorithm, simulation results for a single-link manipulator, a two-link planar manipulator and the Space Station Remote Manipulator System (SSRMS) are presented.

关键词： Manipulator dynamics Neural networks Application software Space technology Control systems Predictive models computer networks Artificial neural networks Filters PD control

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Evaluation of printed circuit board assembly manufacturing systems using fuzzy colored Petri nets

Evaluation of printed circuit board assembly manufacturing s...

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IEEE international conference on systems, Man and Cybernetics

作者： S.C.K. Shiu E.C.C. Tsang D.S. Yeung M.B. Lam Department of Computing Hong Kong Polytechnic University Hong Kong China

In this paper, implementation and evaluation of a printed circuit board assembly (PCBA) manufacturing system model based on fuzzy colored Petri nets (FCPN) modeling was performed. From the Petri nets simulation results, two contributions were claimed: (1) The successful application of our approach to evaluate systems that consist of complicated concurrent processes with embedded data structures and uncertainty reasoning. (2) An approach in automatic determination of the threshold values in the fuzzy production rules using FCPN. The details of the assembling processes and various manufacturing data were gathered from computer manufacturers located in China. Different resource allocation strategies were introduced in the experiments, and simulation results were obtained. The resources included screen printers, different pick and place machines, infrared soldering machines and component insertion robots. All the experiments were built by using the Petri net tool DESIGN/CPN. A number of hierarchy pages, color sets, places, arcs and transitions representing the PCBA and fuzzy production rules were constructed in the experiments. simulation runs of the Petri nets model were carried out. The result shows that our approach could be used to guide decision-makers in the design and selection of a suitable PCBA manufacturing strategy. Future extension of our work is described.

关键词： Printed circuits Assembly systems Manufacturing systems Petri nets computer aided manufacturing Fuzzy systems Manufacturing processes Performance evaluation Circuit simulation Application software

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CUMULVS: extending a generic steering and visualization middleware for application fault-tolerance

CUMULVS: extending a generic steering and visualization midd...

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Annual Hawaii international conference on System Sciences (HICSS)

作者： P.M. Papadopoulos J.A. Kohl B.D. Semeraro Computer Science and Mathematics Division Oak Ridge National Laboratory Oak Ridge TN USA

CUMULVS is a middleware library that provides application programmers with a simple API for describing viewable and steerable fields in large-scale distributed simulations. These descriptions provide the data type, a logical name of the field/parameter, and the mapping of global indices to local indices (processor and physical storage) for distributed data fields. The CUMULVS infrastructure uses these descriptions to allow an arbitrary number of front-end "viewer" programs to dynamically attach to a running simulation, select one or more fields for visualization, and up-date steerable variables. (Viewer programs can be built using commercial visualization software such as AVS or custom software based on GUI interface builders like Tcl/Tk.) Although these data field descriptions require a small effort on the part of the application programmer, the payoff is a high degree of flexibility for the infrastructure and end-user. This flexibility has allowed us to extend the infrastructure to include "application-directed" checkpointing, where the application determines the essential state that must be saved for a restart. This has the advantage that checkpoints can be smaller and made portable across heterogeneous architectures using the semantic description information that can be included in the checkpoint file.

关键词： Fault tolerance Data visualization Checkpointing Programming profession Application software Libraries Computational modeling Concurrent computing Packaging Fault tolerant systems

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Proceedings of the 1997 IEEE international conference on Application-Specific systems, architectures and Processors, ASAP'97

Proceedings of the 1997 IEEE International Conference on App...

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Proceedings of the 1997 IEEE international conference on Application-Specific systems, architectures and Processors, ASAP'97

The proceedings contains 52 papers from the 1997 IEEE international conference on Application Specific systems, architectures, and Processors. Topics discussed include: visual computing environment for very large scale biomolecular modeling;computing with locally interconnected architectures;nonlinear digital filter on a digital signal filtering processor;linear array parallel image processor;massively parallel implementation of the watershed based on cellular automata;Jacobi specific dataflow processor;storage size reduction in embedded multimedia systems;full-search block matching algorithms;image geometrical transformations using an embedded core based processor;and data-interlacing architecture for full-search block-matching algorithm.

关键词： computer architecture

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modeling and simulation under the standard architectures: How will DoD organizations make it happen?

Modeling and simulation under the standard architectures: Ho...

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Proceedings of the 1997 IEEE National Aerospace and Electronics conference, NAECON. Part 1 (of 2)

作者： Allen, Kenneth R. McQuay, William K. Science Applications Int Corp United States

During the past decade, the military modeling and simulation (M&S) community has seen the formation of the Defense modeling and simulation Office (DMSO) in the Department of Defense (DoD). Subsequently, many other offices have been formed within the Services to be Service focal points for M&S and to coordinate Service domains. Out of this has arisen the awareness of the need and benefits of a standard high level M&S architecture. Despite the current seemingly disparate and large number of architectures, the M&S environment within the DoD will settle down to a small set of modeling systems that will interoperate. However, does this mean that modeling will be mindless;will interoperability be automatic;will all answers be available to everyone? No, organizations will need to come together and plan their experiments within the chosen M&S architecture (i.e., they will need to Federate). Wright Laboratory and Science Applications international Corporation (SAIC) have worked simulation technology extensively over the years and most recently with the DMSO High-Level Architecture (HLA) and the Joint modeling and simulation System (JMASS). This paper will discuss the issues associated with organizations coming together to build a significant simulation suite, provide an approach to this activity, and share results of two Federating efforts.

关键词： computer simulation

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Model-based development of computer-based information systems

Model-based development of computer-based information system...

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Proceedings of the 1997 IEEE conference and Workshop on Engineering of computer-Based systems

作者： Kampfner, Roberto R. Univ of Michigan-Dearborn Dearborn United States

The view of processing as an integral part of function suggests that information systems must be embedded into the structure and dynamics of the functions they support. This requires that the architecture of the computer-based information system be compatible with the structure and dynamics of the organization it supports. In this paper we propose a model-based approach to the development of information systems that uses models of the structure and dynamics of organizations in order to develop effective function support. The proposed approach uses a conceptual tool to model key features of the structure and dynamics of the organization and a methodology that maps such features into the architecture of its supporting information system. A modeling and simulation environment is suggested that includes an extensive model base that can be used for the simulation and analysis of organizational function in addition to its use in systems development.

关键词： Information technology

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Efficient modeling of memory arrays in symbolic simulation 9th

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9th international conference on computer-Aided Verification (CAV 97)

作者： Velev, M Bryant, RE Jain, A Carnegie Mellon Univ Dept Elect & Comp Engn Pittsburgh PA 15213 USA Carnegie Mellon Univ Sch Comp Sci Pittsburgh PA 15213 USA

ISBN: (纸本)3540631666

This paper enables symbolic simulation of systems with large embedded memories. Each memory array is replaced with a behavioral model, where the number of symbolic variables used to characterize the initial state of the memory is proportional to the number of memory accesses. The memory state is represented by a list containing entries of the form [c, a, d], where c is a Boolean expression denoting the set of conditions for which the entry is defined, a is an address expression denoting a memory location, and d is a data expression denoting the contents of this location. Address and data expressions are represented as vectors of Boolean expressions. The list interacts with the rest of the circuit by means of a software interface developed as part of the symbolic simulation engine. The interface monitors the control lines of the memory array and translates read and write conditions into accesses to the list. This memory model was also incorporated into the Symbolic Trajectory Evaluation technique for formal verification. Experimental results show that the new model significantly outperforms the transistor level memory model when verifying a simple pipelined data path.

关键词： computer software

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Alloy surface structure: computer simulations using the BFS method

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SURFACE REVIEW AND LETTERS 1997年第5期4卷 825-828页

作者： Bozzolo, G Ferrante, J Analex Corp Brook Pk OH 44142 USA NASA Lewis Res Ctr Cleveland OH 44135 USA

The use of semiempirical methods for modeling ahoy properties has proven to be difficult and limited. The two primary approaches to this modeling, the embedded atom method and the phenomenological method of Miedema, have serious limitations in the range of materials studied and the degree of success in predicting properties of such systems. Recently, a new method has been developed by Bozzolo, Ferrante and Smith (BFS) which has had considerable success in predicting a wide range of alloy properties. In this work, we reference previous BFS applications to surface alloy formation and alloy surface structure, leading to the analysis of binary and ternary Ni-based alloy surfaces. We present Monte Carlo simulation results of thin films of NiAl and Ni-Al-Ti alloys, for a wide range of concentration of the Ti alloying addition. The composition of planes close to the surface as well as bulk features are discussed.

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High-performance scalable computing for real-time applications

High-performance scalable computing for real-time applicatio...

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6th international conference on computer Communications and Networks

作者： Boggess, T Shirley, F Lockheed Martin Co

ISBN: (纸本)0818681861

Sanders is integrating emerging interconnect technologies with other high-performance computing technologies to meet the demanding requirements of future, real-time, embedded military applications. Myrinet, a switched network, is used to connect heterogeneous compute nodes in a low-latency, high-throughput System Area Network (SAN). Myrinet includes a standardized intelligent, node-to-network interface, called a LANai, which isolates each node from the network. Types of nodes under development include Digital Signal Processor (DSP), Reduced instruction Set Computing (RISC), and Reconfigurable Computing (RC). modeling and simulation of the computing system are performed within the Ptolemy environment. High Density interconnect (HDI) packaging reduces Size, Weight And Power (SWAP), a requirement especially important for avionics applications. PacketWay, an Internet Engineering Task Force (IETF) proposed standard, provides a high-performance interface between heterogeneous SANs, and includes an option for highspeed inter-SAN encryption. A prototype high-performance scalable computer is being built at Sanders with this set of technologies, to meet the requirements of several future military programs.

关键词： Data communication systems

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An embedded network simulator to support network protocols' development 9th

An embedded network simulator to support network protocols' ...

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9th international conference on computer Performance Evaluation - Modelling Techniques and Tools

作者： Rizzo, L Univ Pisa Dip Ingn Informaz I-56126 Pisa Italy

ISBN: (纸本)3540631011

The development of network protocols, especially if designed for use in very large scale networks, generally requires extensive simulation and tests in operational environments to assess their performance and correctness. Both approaches have limitations: simulation because of possible lack of accuracy in modeling the system (and, especially, traffic generators), tests in operating networks because of the difficulty of setting up and controlling the experimental testbed. In this paper we propose to embed network simulators in operational systems, so as to get the advantages of both simulators and real testbeds. Such simulators can be built with minimal modifications to existing protocol stacks. They work by intercepting communications of the protocol layer under test and simulating the effects of finite queues, bandwidth limitations, communication delays, noisy channels. As a result, experiments can be run on a standalone system, while simulating arbitrarily complex networks. Thanks to the ability of using real traffic generators and protocol implementations, doing experiments becomes as simple as running the desired set of applications on a workstation. An implementation of such a simulator, targeted to TCP and compatible with BSD-derived systems, is available from the author.

关键词： protocol evaluation TCP/IP simulation

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