This work describes the design and development of a multi-robotic system. Each subsystem is built, tested separately and then integrated, using middleware standard, CORBA. Using middleware reduces the burden of networ...
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This work describes the design and development of a multi-robotic system. Each subsystem is built, tested separately and then integrated, using middleware standard, CORBA. Using middleware reduces the burden of network programming, error, and complication of integration, and increases reusability and portability. CORBA is the major and leading standard for distributed platforms. Our approach is to deploy CORBA to integrate distributed robotic and automatic controlsystems. Using standard specification language, we can describe clearly the system's overview as well as in detail subsystems, even in a large complex system. It helps to define message passing and interaction among subsystems in distributed environments. We summarize SDL (specification description language), and explain our robot system using the SDL. To show the feasibility of our system, small blocks are grasped and moved by the manipulator robot.
Network worms - self-propagating network programs - represent a substantial threat to our network infrastructure. Due to the propagation speed of worms, reactive defenses need to be automatic. It is important to under...
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Network worms - self-propagating network programs - represent a substantial threat to our network infrastructure. Due to the propagation speed of worms, reactive defenses need to be automatic. It is important to understand where and how these defenses need to fit in the network so that they cannot be easily evaded. As there are several mechanisms malcode authors can use to bypass existing perimeter-centric defenses, this position paper argues that substantial defenses need to be embedded in the local area network, thus creating "hard-LANs" designed to detect and respond to worm infections. When compared with conventional network intrusion detection systems (NIDSs), we believe that hard-LAN devices need to have two orders of magnitude better cost/performance, and at least two orders of magnitude better accuracy, resulting in substantial design challenges.
The proceedings contain 54 papers. The topics discussed include: multi-objective design using various control techniques;a multi-objective optimization-based software environment for controlsystems design;multi-objec...
ISBN:
(纸本)078037388X
The proceedings contain 54 papers. The topics discussed include: multi-objective design using various control techniques;a multi-objective optimization-based software environment for controlsystems design;multi-objective design of a fuzzy controller for a nonlinear missile autopilot;multi-objective design tor an integrated flight controlsystem: a combination with model reduction approach;multi-objective design of low complexity digital controllers;measurement of the road gradient using an inclinometer mounted on a moving vehicle;and the control of specific actuators for fast ferry vertical motion damping.
This contribution describes a LabVIEW based interactive computeraidedcontrolsystemdesign tool. It offers a set of ready to use solutions of typical controlsystemdesign problems. Instead of a syntax a menu driven...
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This paper presents a medical visualization tool implementing a hip joint modeling method that offers the control of the hip joint center and the assessment of the hip range of motions. As the shape of the femoral hea...
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ISBN:
(纸本)0080441599
This paper presents a medical visualization tool implementing a hip joint modeling method that offers the control of the hip joint center and the assessment of the hip range of motions. As the shape of the femoral head is not a perfect sphere, it is in fact close to a 3D conchoid shape, the resulting articulation center cannot be modeled as the center of the sphere that best approximates the femoral head. In order to correctly assess the range of motion of a patient's hip, the medical doctor cannot proceed with such an approximation method. An automatic Computation methodology of the hip joint center location is being designed and implemented based on the shape of the acetabular rim. And more, the extreme ranges of motions are calculated on the bony hip model. Copyright (C) 2003 ifac.
system identification of a real motorcycle is performed to design a controlsystem for attitude stabilization of the motorcycle by front-wheel steering. In system identification, a front-steering impulsive torque is u...
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This paper describes an embedded architecture designed for the "Navigation aided Intelligent Cruise control" (NAICC) project and more generally for the development of driver assistance systems. An original C...
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ISBN:
(纸本)0780378482
This paper describes an embedded architecture designed for the "Navigation aided Intelligent Cruise control" (NAICC) project and more generally for the development of driver assistance systems. An original CAN bus based hardware architecture is presented. This approach allows the easy integration of numerous heterogeneous components and the management of a great part of the complexity inherited from this diversity. On the other hand, the corresponding software architecture is proposed. It is based on "'computeraidedcontrolsystemdesign" and high level Object Oriented concepts in order to integrate and make all the conception stages of an embedded system easier. An original localisation-based bending light system is presented in order to illustrate the implementation facilities obtained with the proposed approach.
This work introduces a computational based approach to design stabilizing controllers for a class of uncertain nonlinear plant. The approach calls for generating the plant's linear approximations over a set of gri...
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The heat transfer analysis of systems with complex 3D geometries is usually done by numerical methods. Finite Element Method (FEM) and Finite Difference Method (FDM) are widely used for this purpose. Complex geometrie...
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ISBN:
(纸本)0780376978
The heat transfer analysis of systems with complex 3D geometries is usually done by numerical methods. Finite Element Method (FEM) and Finite Difference Method (FDM) are widely used for this purpose. Complex geometries are accurately analyzed by FEM method. However, FEM solutions can be computationally inefficient for thermal problems that have high mesh densities with complex boundary conditions and variable material properties. On the other hand, Finite Difference method (FDM) is difficult to apply for complex geometric shapes. A hybrid numerical approach that combines the advantages of FDM and FEM has been integrated into a thermal simulation code. The hybrid technique has been implemented using object oriented programming techniques in a PC environment. A comparison of the computational efficiency of the two methods has been presented.
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