Pneumatic muscles actuator (PMA) is widely used in the field of rehabilitation robot for its good flexibility, light weight and high power/mass ratio as compared to traditional actuator. In this paper, a fuzzy logic-b...
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ISBN:
(纸本)9783319652924;9783319652917
Pneumatic muscles actuator (PMA) is widely used in the field of rehabilitation robot for its good flexibility, light weight and high power/mass ratio as compared to traditional actuator. In this paper, a fuzzy logic-based PD-type iterative learning controller (ILC) is proposed to control the PMA to track a predefined trajectory more precisely during repetitive movements. In order to optimize the parameters of the learning law, fuzzy logic control is introduced into ILC to achieve smaller errors and faster convergence. A simulation experiment was first conducted by taking the PMA model fitted by support vector machine (SVM) as controlled target, which showed that the proposed method achieved a better tracking performance than traditional PD-type ILC. A satisfactory control effect was also obtained when fuzzy PD-type ILC was applied to actual PMA control experiment. Result showed that it takes 25 iterations for the maximum error of trajectory converges to a minimum of about 0.2.
In this study, we propose an efficient, 1024 point, pipelined FFT processor based on the radix-2 decimation-in-frequency (R2DIF) algorithm using the single-path delay feedback (SDF) pipelined architecture. The propose...
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ISBN:
(纸本)9783319562582;9783319562575
In this study, we propose an efficient, 1024 point, pipelined FFT processor based on the radix-2 decimation-in-frequency (R2DIF) algorithm using the single-path delay feedback (SDF) pipelined architecture. The proposed FFT processor is designed as an intellectual property (IP) logic core for easy integration into digital signal processing (DSP) systems. It employs the shift-add method to optimize the multiplication of twiddle factors instead of the dedicated, embedded functional blocks. The proposed design is implemented on a Xilinx Virtex-7 fieldprogrammable gate array (FPGA). The experimental results show that the proposed FFT design is more efficient in terms of speed, accuracy and resource utilization as compared to existing designs and hence more suitable for high-speed DSP applications.
programmablelogic Controllers, Industrial buses and Embedded Systems are key areas for Automation. Solutions for factory automation, process automation, safety applications, and the entire range of drive technology a...
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ISBN:
(纸本)9781509033119
programmablelogic Controllers, Industrial buses and Embedded Systems are key areas for Automation. Solutions for factory automation, process automation, safety applications, and the entire range of drive technology are available with PLCs and embedded systems. The current trend is Totally Integrated Automation which allows a perfect interplay of all integrated automation components. This presentation will focus on practical aspects of PLCs and embedded systems. Optimization and reliability in the field of automation will also be presented.
As modular multilevel converters gradually become the preferred topology for many high-voltage and high-power applications, they are widely studied among researchers, who need experimental results to validate their st...
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As modular multilevel converters gradually become the preferred topology for many high-voltage and high-power applications, they are widely studied among researchers, who need experimental results to validate their studies. This paper discusses the design of a down-scaled modular multilevel converter prototype for research purposes, equipped with 30 full-bridge submodules and 10 kW rating. The design of this prototype is aimed at safety, flexibility, orderliness, and compactness. The challenges posed by the implementation of the converter prototype are examined, discussing the design of the prototype structure, the communication scheme, the full-bridge submodules, and the control hierarchy. The control system is based on Xilinx Zynq system-on-chip, which integrates programmablelogic and processing system, allowing for extensive computational capability as well as simple reconfiguration. Experimental results showing the prototype in operation at nominal ratings are presented along with the devised graphical user interface.
Reliability program plan (RPP) for instrumentation and control (I&C) system with fieldprogrammable Gate Array (FPGA) technology for the system platform should develop to ensure the reliability of systems and comp...
Reliability program plan (RPP) for instrumentation and control (I&C) system with fieldprogrammable Gate Array (FPGA) technology for the system platform should develop to ensure the reliability of systems and components both hardware and software since reliability is one of mandatory requirement from the regulator and industrial standards of nuclear power generating station safety system. Therefore, it is very important to arrange which methodologies and tools that will be used to verification and validation (V&V) both hardware and software which is concerned as reliable I&C system since it is mandatory to meet the safety system criteria because have to handle the complex safety I&C system. This RPP should be designed by referring to the condition of the type of the reactor. To be applied on 10MW high temperature gas- cooled reactor-test module (HTR-10) which is a high temperature reactor with gas coolant system, the design should be conditioned for high temperature environment. This paper present the RPP to develop reliability analysis for FPGA-based I&C system of NPP to provide a minimum requirement to meet the reliability goal of the safety I&C system of HTR-10. It is mandatory to develop RPP since FPGA-based I&C system become an alternative platform to change programmablelogic Controller (PLC) to avoid common cause failure because of software problems and cyber security aspects. In the process of reviewing recommended methods from industrial standards, it was found that the complexity of the system can increase the capabilities of the system, but from the other side show that by reducing the complexity of the system will increase the reliability of the system. By implementing this RPP to verify and validate the system development, hope that I&C system for HTR-10 will meet the safety criteria and reliable for safety I&C system.
Trapping and manipulation of matter at micrometer scaled up to a single nanoparticle has assumed a fundamental role for several applications and, particularly, in biomedical environments. Furthermore, trapping of livi...
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ISBN:
(纸本)9781538608593
Trapping and manipulation of matter at micrometer scaled up to a single nanoparticle has assumed a fundamental role for several applications and, particularly, in biomedical environments. Furthermore, trapping of living matter at the nanoscale, such as proteins and DNA sections, allows the study of many diseases and also the investigation of the effects of new drugs on a single pathogen like a virus. Among the several trapping techniques proposed to control the motion of sub-micrometer particles, optically-based methods have demonstrated the highest efficiency. Strong optical forces obtained with low values of optical power and a contact-free manipulation represent the main advantages of optical tweezers, because long trapping time with no risks of damage of the trapped matter can be realized. Integrated optical nanotweezers provide stronger optical forces with a higher trapping efficiency, compared to performance obtained with bulk configurations. In this work, we review the state-of-the-art of nanotweezers proposed for trapping at sub-micrometer and nanoscale. Performance obtained with photonic and plasmonic nanotweezers are discussed, with a special emphasis on the hybrid photonic/plasmonic nanodevices that allow very strong light-matter interaction (Q/V > 106 (lambda/n)(-3)) with clear advantages for trapping efficiency at the nanoscale.
Concolic execution has achieved great success in many binary analysis tasks. However, it is still not a primary option for industrial usage. A well-known reason is that concolic execution cannot scale up to large-size...
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ISBN:
(纸本)9781538605424
Concolic execution has achieved great success in many binary analysis tasks. However, it is still not a primary option for industrial usage. A well-known reason is that concolic execution cannot scale up to large-size programs. Many research efforts have focused on improving its scalability. Nonetheless, we find that, even when processing small-size programs, concolic execution suffers a great deal from the accuracy and scalability issues. This paper systematically investigates the challenges that can be introduced even by small-size programs, such as symbolic array and symbolic jump. We further verify that the proposed challenges are non-trivial via real-world experiments with three most popular concolic execution tools: BAP, Triton, and Angr. Among a set of 22 logic bombs we designed, Angr can solve only four cases correctly, while BAP and Triton perform much worse. The results imply that current tools are still primitive for practical industrial usage. We summarize the reasons and release the bombs as open source to facilitate further study.
Higher throughput is always desired in real time image processing applications. There are many ways to achieve higher throughput. However, if we have additional resources and memory bandwidth available, parallelism ca...
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Modern stream processing frameworks, such as Spark Streaming, are designed to support a wide variety of stream processing applications, such as real-time data analytics in social networks. As the volume of data to be ...
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ISBN:
(纸本)9781538617625
Modern stream processing frameworks, such as Spark Streaming, are designed to support a wide variety of stream processing applications, such as real-time data analytics in social networks. As the volume of data to be processed increases rapidly, there is a pressing need for processing them across multiple geo-distributed datacenters. However, these frameworks are not designed to take limited and varying inter-datacenter bandwidth into account, leading to longer query latencies. In this paper, we focus on reducing latencies for spark streaming queries in wide-area networks, by automatically selecting data flow routes and determining micro-batch sizes across geo-distributed datacenters. Specifically, we formulate a nonconvex optimization problem, and solve it with an efficient heuristic algorithm based on readily measurable operating traces. We conducted experiments on Amazon EC2 with emulated bandwidth constraints. Our experimental results have demonstrated the effectiveness of our proposed algorithm, as compared to the existing Spark Streaming.
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