In this paper, we propose a technique for dynamically routing packets within a hierarchical network on chip (NoC). The concept of a local router range (analogous to other forms of locality awareness) determines on whi...
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ISBN:
(纸本)9781450330534
In this paper, we propose a technique for dynamically routing packets within a hierarchical network on chip (NoC). The concept of a local router range (analogous to other forms of locality awareness) determines on which hierarchy level a packet should be routed. In previous work, the degree of this locality awareness was static and uniform across the entire network. This paper shows that, using a decentralized control mechanism, a single network node can estimate the value and variation in network-wide instantaneous average throughput and delay. Utilizing this ability in a control algorithm, we evaluate the effect of dynamic locality awareness at each network node and show overall throughput: delay ratio increases up to 3.42x that of unoptimized hierarchical networks.
Robot-aided treadmill training is an innovative rehabilitation method for patients with locomotor dysfunctions. However, in the current rehabilitation system the treadmill speed is restricted to a constant value or ad...
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ISBN:
(纸本)9781479957361
Robot-aided treadmill training is an innovative rehabilitation method for patients with locomotor dysfunctions. However, in the current rehabilitation system the treadmill speed is restricted to a constant value or adjusted by the therapist, whereas self-determined phases of accelerations and decelerations cannot be performed by the patient in an interactive and intuitive way. In order to cope with the above problems, a speed adaptive control algorithm for lower extremity rehabilitation robot system is proposed and studied. According to the characteristics that the patient's hip joint is fixed on the robot system while walking, A pull pressure sensor is used to detect a patient's movement trend and a nonlinear gain function is used to automatically set velocity transformation quantity in the treadmill speed controller. According to this principle, a set of force measuring device is designed and its feasibility is also verified by the physical prototype. The experimental results show that the proposed control algorithm is feasible and meets the requirement of the treadmill speed adaptation for Lower Extremity Rehabilitation Robot system.
For the control of robots, like bipedal robots, an accurate system model with the corresponding inertial parameters can enhance the performance of the control algorithms significantly. This paper presents a convenient...
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ISBN:
(纸本)9781479971749
For the control of robots, like bipedal robots, an accurate system model with the corresponding inertial parameters can enhance the performance of the control algorithms significantly. This paper presents a convenient method for identification of the static inertial parameters with minimal sensor effort. Next to the identification method itself an approach for the calculation of optimal exciting identification poses is presented. The method is used successfully to identify the static inertial parameters of a full-size humanoid robot.
This paper presents a prototypical implementation of WSN-based daylight-responsive lighting and shading systems control in buildings that utilizes real-time sensing. This system can control the position of window blin...
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ISBN:
(纸本)9781467361217
This paper presents a prototypical implementation of WSN-based daylight-responsive lighting and shading systems control in buildings that utilizes real-time sensing. This system can control the position of window blinds and the states of the luminaires to achieve the desirable visual comfort and energy efficiency based on the weather conditions and occupant activities. We first present the system architecture. Subsequently, the prototypical implementation is demonstrated. The outcome of this effort is expected to further articulate the system functionality and control algorithm towards implementations in real-life built environments.
In this paper, we propose a novel game theoretic model to determine optimal pilot power for femtocells in a WCDMA heterogeneous network (HetNet) deployment. The proposed utility function takes proportional fairness in...
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ISBN:
(纸本)9781479958672
In this paper, we propose a novel game theoretic model to determine optimal pilot power for femtocells in a WCDMA heterogeneous network (HetNet) deployment. The proposed utility function takes proportional fairness into consideration in pilot power allocation of femto APs and accepts CPICH measurements of femtocell user equipment (FUE) with co-channel interference values as input parameters. We prove that the proposed game model is supermodular and converges to a Nash Equilibrium. Results indicate that our Distributed Power Control algorithm converges quickly and is sensitive to interference and load variations within the femtocells.
Networked control systems use the network connection to exchange data and signals. In plug-and-play control the communication of control algorithms and system models over a shared network is concerned with the intenti...
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ISBN:
(纸本)9783952426913
Networked control systems use the network connection to exchange data and signals. In plug-and-play control the communication of control algorithms and system models over a shared network is concerned with the intention to adjust control laws automatically after the occurrence of changes in the plant structure or in the control objectives. An application scenario is the break down of a sensor or an actuator as studied in fault-tolerant control. This paper investigates such a situation in the sense of plug-and-play control. The diagnostic task and reconfiguration task are separated and assigned to predestined computational units: an onboard unit allocated at the plant with access to the plant signal and a remote offboard unit concerning the expensive computation. The onboard diagnostic unit detects and identifies the failure at runtime and transmits the model of the faulty plant to the offboard reconfiguration unit over a shared network. Using the reconfiguration strategy of the virtual sensor and virtual actuator the reconfigured controller is automatically designed and transmitted to the control station to replace the original control algorithm. In the whole sequence no human interaction is necessary. The main contributions of this paper are the combination of a diagnosis method and a reconfiguration method to perform a completely automated sequence, the implementation of this concept and the evaluation by experiments on a thermal fluid process.
Artificial lighting is often the main lighting provision for workplaces. This paper describes algorithms for optimizing lighting control in large (smart) buildings that are extensible to smart home use. Systems that p...
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ISBN:
(纸本)9781479931064
Artificial lighting is often the main lighting provision for workplaces. This paper describes algorithms for optimizing lighting control in large (smart) buildings that are extensible to smart home use. Systems that provide uniform lighting, under varying outdoor light levels, at occupied locations turns out to be a hard problem. We present methods that work as generic control algorithms and are not preprogrammed for a particular building. Our system uses wireless sensors and wired actuators for the lighting control. But the system does not know about locations and correlations between lights and sensors. The model shows that the control problem is NP-Hard. A heuristic algorithm is proposed and validated to solve the problem to compute approximate optimal solution.
In this paper, a Cartesian sensor-less force control method for industrial robots is proposed. The disturbance torques at each joint, generated by external forces at the endeffector of robot, are estimated using a dis...
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ISBN:
(纸本)9781479969340
In this paper, a Cartesian sensor-less force control method for industrial robots is proposed. The disturbance torques at each joint, generated by external forces at the endeffector of robot, are estimated using a disturbance observer, then they are converted to the force/moment in Cartesian space with the robot Jacobian. The force control algorithm is realized through a powerful position servo of industrial robot controller. Furthermore, the friction's harmful effect on the sensor-less force control is reduced using a high frequency dither signal. The validity of the proposed control algorithm is investigated through the experiments with industrial robots. Real application tests are conducted like a peg-in-hole assembly and a die casting application and contact stability with a stiff environment is also checked by a push task with various push levels.
In this paper we present the way of saving electrical energy in high-tech telecommunication and computer networks. To achieve this aim, the work focuses on the description of the current state and the future trends of...
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ISBN:
(纸本)9781479965151
In this paper we present the way of saving electrical energy in high-tech telecommunication and computer networks. To achieve this aim, the work focuses on the description of the current state and the future trends of changes, as well as it analyses the possibility of energy-saving solutions based on the Clos switching network architectures used in switching networks. A simulation program has been implemented to estimate multi-stage switching system energy consumption. This program enabled to check the operating quality (how much energy was saved by the structure during packet forwarding or rejecting), routing algorithms (sequential algorithm, quasi-random algorithm and Benes algorithm) and their modifications that optimize the achieved results.
作者:
Zuo, ZongyuBeihang Univ
Res Div 7 Sci & Technol Aircraft Control Lab Beijing Univ Aeronaut & Astronaut Beijing 100191 Peoples R China
This paper addresses the problem of coordinately steering a group of agents under directed information flow along three-dimensional (3-D) reference paths with spatial but without temporal constraints. Based on a novel...
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ISBN:
(纸本)9781467360906
This paper addresses the problem of coordinately steering a group of agents under directed information flow along three-dimensional (3-D) reference paths with spatial but without temporal constraints. Based on a novel 3-D algebraic implicit path-following control methodology, a new coordinated path-following control algorithm accounting for large initial positions disagreement is proposed such that all the agents in the group reach the spatial path with negotiated speed profiles and ultimately realize the position coordination on the path. To validate the correctness of the proposed concept, simulation result is included in the end.
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