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检索条件"任意字段=Proceedings of the 1997 Conference on Java in Science and Engineering Simulation"

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Network inversion based neural controller for robot manipulations

Network inversion based neural controller for robot manipula...

引用

International conference on Advanced Robotics (ICAR)

作者： L. Behera Department Of Electrical and Electronics Engineering Birla Institute of Technology and Science Pilani India

This paper proposes an indirect adaptive control scheme using the concept of network inversion. The neural model of the robot manipulator was obtained by training a radial basis function network from the input-output data generated from the plant. A query based learning algorithm has been proposed to improve the model prediction which uses an extended Kalman filtering based network inversion technique. A control scheme is designed incorporating the network inversion technique. The controller ensures Lyapunov stability of the dynamic system. The proposed control scheme is implemented on a two-link manipulator through simulation. simulation results indicate that the control scheme is robust and stable and corresponding trajectory tracking is accurate.

关键词： Robot control Adaptive control Manipulators Radial basis function networks Filtering algorithms Predictive models Kalman filters Control systems Lyapunov method Control system synthesis

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Cooperating process components

Cooperating process components

引用

IEEE Annual International Computer Software and Applications conference (COMPSAC)

作者： K.A. Gary T.E. Lindquist Electrical Engineering and Computer Science Department Catholic University of America Washington D.C. DC USA Computer Science and Engineering Department Arizona State University Tempe AZ USA

Modern automated process support systems can be considered monolithic in three ways. First, they model processes top-down, usually from a single perspective, such as the organizational perspective. Second, they are process-centered, in that they often require extensive knowledge of the users, data types, and applications in their environment. Third, they tie process implementation to a specific representation, making reuse and interoperability between process models difficult to achieve. The paper describes the application of component based techniques to process modeling across overlapping process spaces. This approach, the Open Process Components approach, encapsulates process fragments as interoperable and reusable process components. The paper motivates a vision of cooperating components for automated process support, presents an overview of the Open Process Components approach, and shows the application of this technique to W. Humphrey's (1997) Personal Software Process.

关键词： Application software Programming Computer science Software engineering Internet java Visual BASIC Open systems

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Real-time job scheduling in hypercube systems

Real-time job scheduling in hypercube systems

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International conference on Parallel Processing (ICPP)

作者： O-Hoon Kwon Jong Kim SungJe Hong Sunggu Lee Department of Computer Science and Engineering Pohang University of Science and Technology Pohang South Korea Department of Electronic and Electrical Engineering Pohang University of Science and Technology Pohang South Korea

ISBN: (纸本)081868108X

In this paper, we present the problem of scheduling real-time jobs in a hypercube system and propose a scheduling algorithm. The goals of the proposed scheduling algorithm are to determine whether all jobs can complete their processing before their fixed deadlines in a hypercube system and to find such a schedule. Each job is associated with a computation time, a deadline, and a dimensional requirement. Determining a schedule such that all jobs meet before their respective fixed deadlines in a hypercube system when preemption is not allowed is an NP-complete problem. Hence, we present a heuristic scheduling algorithm for scheduling non-preemptable real-time jobs in a hypercube system. Finally, we evaluate the proposed algorithm using simulation.

关键词： Real time systems Hypercubes Processor scheduling Scheduling algorithm Computer science NP-complete problem Parallel architectures Scalability Topology Resource management

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Run-time execution of reconfigurable hardware in a java environment

Run-time execution of reconfigurable hardware in a Java envi...

引用

IEEE International conference on Computer Design: VLSI in Computers and Processors, (ICCD)

作者： L.A. Smith King H. Quinn M. Leeser D. Galatopoullos E. Manolakos Department of MathComputer Science College of the Holy Cross Worcester MA USA Electrical and Computer Engineering Department Northeastern University Boston MA USA

We present tools that support the run-time execution of applications that mix software running on networks of workstations and reconfigurable hardware. We use JHDL to describe the reconfigurable hardware, and javaPorts to handle the communications between nodes in the network. The heterogeneous resources are handled by interposing a communication layer between the application and the hardware. The communication layer provides (i) the ability to modify the target hardware without modifying the application, (ii) co-design of the application and hardware, (iii) simulation of the entire system before the hardware design is complete, and (iv) remote execution so the application can reside on a different host from the hardware. We demonstrate the feasibility of this approach with a java-based system which has a communication layer called the packet exchange platform (PEP). We present the system, describe the PEP and its implementation, and show how this approach has been applied to an image processing application.

关键词： Runtime environment Hardware java Application software Image processing Acceleration Field programmable gate arrays Algorithm design and analysis Intelligent networks Educational institutions

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Educational use of MOSIS

Educational use of MOSIS

引用

IEEE International conference on Microelectronic Systems Education

作者： J. Staudhammer University of Florida USA

This paper summarizes and comments on the NSF report "Integration of Education and Research in Microelectronics". MOSIS is the premier NSF grant highlighting the integration of education and research, affecting a broad section of US Computer engineering programs. An analysis of the MOSIS Project reports for 1995 has been published and its salient points are summarized here.

关键词： Circuit testing Computer science education Microelectronics Educational programs Integrated circuit testing System testing Fabrication Costs Computational modeling Circuit simulation

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A pattern-based application generator for building simulation 5

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proceedings of the 6th European SOFTWARE engineering conference held jointly with the 5th ACM SIGSOFT international symposium on Foundations of software engineering

作者： Martin Schuetze Jan Peter Riegel Gerhard Zimmermann Computer Science Department University of Kaiserslautern Germany

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What makes a modeling and simulation professional?: The consensus view from one workshop 97

What makes a modeling and simulation professional?: The cons...

引用

proceedings of the 29th conference on Winter simulation

作者： Ralph V. Rogers Department of Industrial Engineering and Management Systems University of Central Florida P.O. Box 25000 Orlando FL

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Synchronous load balancing in hypercube multicomputers with faulty nodes

Synchronous load balancing in hypercube multicomputers with ...

引用

International conference on Parallel and Distributed Systems (ICPADS)

作者： Jaewon Seo Sunggu Lee Jong Kim Department of Electrical Engineering Information Research Laboratories PIRL Pohang University of Science and Technology Pohang South Korea IBM Thomas J. Watson Research Center Yorktown Heights NY USA Department of Computer Science & Engineering Information Research Laboratories PIRL Pohang University of Science and Technology Pohang South Korea

ISBN: (纸本)0818682272

This paper presents a new dynamic load balancing algorithm for hypercube multicomputers with faulty nodes. The emphasis in our method is on obtaining global load information and performing task migration using "short paths" in a synchronous manner so that a minimal amount of communication overhead is required. To accomplish this, we present an algorithm for constructing a new logical topology from a hypercube topology with faulty nodes. This new topology is used to obtain the global load information and to perform task migration. simulation results are used to evaluate the performance of our dynamic load balancing method. The proposed strategy shows good performance in the case of a small number of faulty nodes when compared with previous methods.

关键词： Load management Hypercubes Topology Concurrent computing Distributed computing Application software Heuristic algorithms Parallel processing Computer networks Multiprocessor interconnection networks

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Investigating the use of multi meta-heuristics in simulation optimization 10

Investigating the use of multi meta-heuristics in simulation...

引用

proceedings of the Winter simulation conference

作者： Serdar Bozoglan Murat M. Gunal Institute of Naval Science and Engineering Turkish Naval Academy Istanbul Turkey

ISBN: (纸本)9781424498642

Optimization by exploiting simulation modeling has attracted considerable attention of both academia and simulation software industry. Almost all simulation modeling software has an optimization module. Software vendors either develop custom or implement well known algorithms in their products. Meta-heuristics algorithms are popular due to the ease of adaptation in problem domains. In most simulation software, one or two algorithms are used without letting the user to choose. The purpose of this study is to demonstrate the use of multi meta-heuristics methods in simulation optimization by using a java based code library; Heuristics Package for simulations (HePSi). It includes genetic, simulated annealing, and tabu search meta-heuristics algorithms. The user can choose one of these algorithms. It also allows users to partially or completely enumerate in the solution space. We developed HePSi to be used with Simkit discrete-event simulation library. Experimentation with a TSP based test problem is presented.

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A comparison of missile autopilot designs using /spl Hscr//sub /spl infin// control with gain scheduling and nonlinear dynamic inversion

A comparison of missile autopilot designs using /spl Hscr//s...

引用

American Control conference (ACC)

作者： C. Schumacher P. Khargonekar Department of Aerospace Engineering University of Michigan Ann Arbor MI USA Department of Electrical Engineering and Computer Science University of Michigan Ann Arbor MI USA

We present two nonlinear controller designs for a bank-to-turn, air-to-air missile. The first controller is a gain-scheduled /spl Hscr//sub /spl infin// design and the second is a nonlinear dynamic inversion design using a two time scale separation. We carried out a number of time and frequency domain analysis procedures on the resulting designs, and tested their performance on a nonlinear simulation of the missile. We compare the controller designs for nominal performance, robustness to uncertainties in the aerodynamic coefficients, and sensitivity to measurement noise.

关键词： Missiles Aerodynamics Open loop systems Linear feedback control systems Processor scheduling Dynamic scheduling State feedback Frequency domain analysis Testing Noise robustness

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