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A Unified Cloud Platform for Autonomous Driving

COMPUTER 2017年第12期50卷 42-49页

作者： Liu, Shaoshan Tang, Jie Wang, Chao Wang, Quan Gaudiot, Jean-Luc PerceptIn Sunnyvale CA 94085 USA South China Univ Technol Sch Comp Sci & Engn Guangzhou Guangdong Peoples R China Baidu Autonomous Driving Unit Beijing Peoples R China Univ Calif Irvine Dept Elect Engn & Comp Sci Irvine CA USA

Tailoring cloud support for each autonomous-driving application would require maintaining multiple infrastructures, potentially resulting in low resource utilization, low performance, and high management overhead. To address this problem, the authors present a unified cloud infrastructure with Spark for distributed computing, Alluxio for distributed storage, and OpenCL to exploit heterogeneous computing resources for enhanced performance and energy efficiency.

关键词： Automobiles Cloud computing control engineering computing Energy Efficiency Heterogeneous computing Resources Open CL Distributed Storage Alluxio Distributed computing Spark Unified Cloud Infrastructure Autonomous Driving Unified Cloud Platform Autonomous Automobiles Field Programmable Gate Arrays Distributed computing Cloud computing Computational Modeling Autonomous Vehicles Self Driving Cars Distributed computing Distributed Storage Heterogeneous computing Simulation Testing Model Training Map Generation Hadoop Map Reduce Spark Alluxio Open CL YARN Linux Containers LXC Hadoop Distributed File System HDFS Robot Operating System ROS Resilient Distributed Dataset RDD Bin Pipe RDD Parallel Distributed Deep Learning Paddle Baidu Convolution Neural Network CNN Li DAR

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Simple and fast computation photovoltaic emulator using shift controller

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IET RENEWABLE POWER GENERATION 2020年第11期14卷 2017-2026页

作者： Ayop, Razman Wei Tan, Chee Lawan Bukar, Abba Univ Teknol Malaysia Sch Elect Engn Utm Johor Bahru 81310 Malaysia Univ Maiduguri Fac Elect Engn PMB 1069 Borno Nigeria

Photovoltaic (PV) emulator (PVE) is a non-linear power supply that produces a similar output to that of the PV module. It requires a closed-loop controller such as the proportional-integral (PI) and fuzzy logic controllers to operate properly. The PI controller has a low-computational burden and is not robust since the transient response varies under different load conditions. Although the fuzzy logic controller is robust, it requires high-computation capability. This study proposed an alternative approach called the shift controller for the PVE to easily compute and maintain a fast transient response under various load conditions. The performance of the proposed shift controller for the PVE is compared with the performance of the PVEs using the PI and fuzzy logic controllers, respectively. The controllers are simulated using MATLAB/Simulink and implemented using dSPACE ds1104 for experimental validation. The results show that the proposed shift controller computes up to 18 times faster than the fuzzy logic controller. The proposed controller also responds faster to load change than the PI controller.

关键词： PI control photovoltaic power systems transient response fuzzy control closed loop systems computer simulation control engineering computing power engineering computing computational complexity fast computation photovoltaic emulator PVE nonlinear power supply PV module closed-loop controller fuzzy logic controllers PI controller low-computational burden transient response varies high-computation capability fast transient response shift controller MATLAB-Simulink dSPACE ds1104

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SELF-TUNING control

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PROCEEDINGS OF THE INSTITUTION OF ELECTRICAL ENGINEERS-LONDON 1979年第6期126卷 633-640页

作者： CLARKE, DW GAWTHROP, PJ Department of Engineering Science University of Oxford Oxford UK

Self tuning is an important new branch of control which is attracting increasing theoretical and practical interest. The objective of self tuning is to control systems with unknown constant or slowly varying parameters, so theoretical interest is concerned with the stability, performance and convergence of the recursive algorithms involved, while practical interest derives from its potential as a simple controller commissioning tool, both as a method for controlling time-varying or nonlinear plant over a range of operating points, and for dealing with batch problems where the plant or materials vary over successive batches. This paper summarises and expands previous work on the design of self-tuning controllers. It discusses the closed-loop properties of various classes of self tuner, convergence concepts and results, and some of the technical problems involved with implementing self tuners on small computers or microprocessors.

关键词： controller commissioning tool controllers microprocessor implemented systems Nonlinear control systems control system analysis and synthesis methods performance recursive algorithms convergence computerised control control system synthesis self tuning control controllers control engineering computing nonlinear control systems

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CONIC - AN INTEGRATED APPROACH TO DISTRIBUTED COMPUTER control-SYSTEMS

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IEE PROCEEDINGS-E COMPUTERS AND DIGITAL TECHNIQUES 1983年第1期130卷 1-10页

作者： KRAMER, J MAGEE, J SLOMAN, M LISTER, A Department of Computing University of Queensland Brisbane Australia Department of Computing Imperial College of Science & Technology London UK

Distributed computer control systems (DCCS) have a number of potential advantages over centralised systems, especially where the application is itself physically distributed. A computer station can be placed close to the plant being controlled, and a communications network used to enable the stations to communicate to co-ordinate their actions. However, the software must be carefully designed to exploit the potential advantages of distribution. In the paper, the CONIC architecture for DCCS is described, concentrating on the software structure but also briefly describing the physical architecture designed to support a CONIC system. The software structure emphasises the distinction between the writing of individual software components and the construction and configuration of a system from a set of components. A modular structure is used to separate programming from configuration. Typed entry and exit ports clearly define a module interface which, like the plugs and sockets of hardware components, permit modules to be interconnected in different ways. On-line modification and extension of the system is supported by permitting the dynamic creation and interconnection of modules. Message-passing primitives are provided to permit modules to co-ordinate and synchronise control actions.

关键词： software structure control engineering computing CONIC integrated approach distributed control computerised control control systems and instrumentation distributed computer control systems modular structure DCCS software

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An Attack-Resilient CPS Architecture for Hierarchical control: A Case Study on Train control Systems

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COMPUTER 2018年第11期51卷 46-55页

作者： Won, Yuchang Yu, Buyeon Park, Jaegeun Park, In-Hee Jeong, Haegeon Balk, Jeanseong Kang, Kyungtae Lee, Insup Son, Sang Hyuk Park, Kyung-Joon Eun, Yongsoon DGIST Dept Informat & Commun Engn Daegu South Korea DGIST Informat & Commun Engn Daegu South Korea Hanyang Univ Div Comp Sci & Engn Seoul South Korea Hanyang Univ Dept Comp Sci & Engn Seoul South Korea Univ Penn PRECISE Ctr Philadelphia PA 19104 USA DGIST Daegu South Korea

This article presents an attack-resilient architecture for cyber-physical systems (CPSs). As a case study, the authors build a radio-based train control testbed and validate the proposed resilient design architecture.... 详细信息

关键词： control engineering computing Rail Traffic Railway Communication Railway Safety Railways Safety Critical Software Train control Systems Attack Resilient CPS Architecture Hierarchical control System Target CPS Application Resilient Design Architecture Radio Based Train control Cyber Physical Systems Computer Architecture Resilience Monitoring Actuators Wireless Communication Virtual Machine Monitors

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MULTISERVER COMPUTER-controlLED QUEUING SYSTEM WITH PREEMPTIVE PRIORITIES AND FEEDBACK

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PROCEEDINGS OF THE INSTITUTION OF ELECTRICAL ENGINEERS-LONDON 1973年第11期120卷 1331-1336页

作者： CHAN, WC CHUNG, WK MAA, DY UNIV CALGARY DEPT ELECT ENGN2920 24 AVE NWCALGARY T2N 1N4ALBERTACANADA

The paper is concerned with the investigation of a multiserver computer-controlled queuing system with preemptive priorities and feedback. A formula for the generating function of the state probabilities of the system is derived and a method using the transition probabilities of a Markov chain for determining the first waiting-time distribution in the system is presented.

关键词： first waiting time distribution feedback probability Queueing theory Statistics generating function queueing theory state probabilities control engineering applications of computers transition probabilities Markov processes control engineering computing multiserver computer controlled queuing system preemptive priorities Markov chain

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COMPUTER-AIDED-DESIGN OF NONLINEAR controlLERS FOR TORQUE controlLED ROBOT ARMS

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IEE PROCEEDINGS-D control THEORY AND APPLICATIONS 1984年第1期131卷 8-14页

作者： SAHBA, M MAYNE, DQ Department of Electrical Engineering Imperial College of Science & Technology London UK

The paper extends a design methodology for designing nonlinear controllers for torque-controlled robot arms. The controller consists of a nonlinear precompensator which makes the robot arm appear as a set of linear second-order systems (one linear system for each degree of freedom) and a linear feedback controller. The nonlinear controller is parametrised by the desired closed-loop transfer function, which is linear. This automatically achieves stability of the nominal system. The parameters of the controller, which are parameters, such as bandwidth, of the desired closed-loop transfer function, are then adjusted to satisfy engineering constraints such as hard constraints on the control (which is a nonlinear function of the state), robust performance and robust stability (maintenance of performance and stability despite variations in the parameters, such as friction and mass, of the robot arm). It is shown how recently developed optimisation-based design methods may be employed. An example is considered, and simulation results presented to illustrate the design procedure.

关键词： Nonlinear control systems control system CAD computer-aided-design linear feedback controller CAD Robotics torque controlled robot arms closed loop systems control applications in manufacturing processes nonlinear control systems closed-loop transfer function linear second-order systems industrial robots control technology and theory robust performance nonlinear precompensator nonlinear controllers Mechanical variables control torque control control engineering computing Manufacturing processes controllers robust stability closed loop system controllers Industrial applications of IT Instrumentation control system analysis and synthesis methods

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Oilfield control system

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computing & control engineering JOURNAL 2002年第6期13卷 281-286页

作者： Chen, XG Jiang, B Pei, XD Xing, MH Beijing Inst Technol Beijing 100081 Peoples R China

Real-time control techniques for measuring parameters in crude oil storage tanks are described. The techniques enable the height of the oil/water layer in the storage tanks to be measured. By using this measuring technique for the oil-water interface, with the height of the interface in the tanks, coupled with the measurements of the water/oil content ratio, the density and flow rate of crude oil and the net oil quantity can be calculated. Therefore, automatic online computation of crude oil reserves and gross output quantity of net oil can be accurately predicted. The proposed method solves a difficult oil field problem that enables control of oil and gas production volumes to be maintained, particularly in low temperature environments where conventional instrumentation has proved ineffective. The control techniques enable the oil production process to function safely and reliably.

关键词： Real-time control Fuel processing industry oil production process crude oil storage tanks process control gas production oil production crude oil reserves control techniques control applications in mining, oil and natural gas technology measuring technique oil quantity stock control data processing oil-water interface control engineering computing automatic online computation low temperature environments Mining, oil drilling and natural gas industries oil technology Production management

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Fault recovery for cascaded asynchronous sequential machines

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IET control THEORY AND APPLICATIONS 2018年第1期12卷 60-67页

作者： Yang, Jung-Min Kwak, Seong Woo Kyungpook Natl Univ Sch Elect Engn 80 Daehakro Bukgu 41566 Daegu South Korea Keimyung Univ Dept Elect Engn 1095 Dalgubeol Daero Dalseogu 42601 Daegu South Korea

In this study, the authors investigate the fault-tolerant control problem of a cascaded asynchronous sequential machine (ASM) in which two ASMs subject to adversarial inputs constitute a cascade composition. The main objective is to develop a corrective controller that can diagnose and tolerate any unauthorised state transition occurring in the cascaded machine. In particular, the authors address fault-tolerant control for two control configurations, one with a state feedback and the other with an output feedback. The existence condition for a controller is found to be different with respect to each feedback availability. The authors apply the proposed control scheme to robust operations of memory scrubbing modules in space-borne computers implemented on field-programmable gate array systems. Experimental results show the practicability of the proposed methodology.

关键词： fault tolerant control state feedback field programmable gate arrays control engineering computing cascade systems sequential machines aerospace control aerospace computing control system synthesis fault recovery cascaded asynchronous sequential machines fault-tolerant control problem ASM adversarial inputs cascade composition corrective controller state transition state feedback output feedback existence condition feedback availability robust operations memory scrubbing modules space-borne computers field-programmable gate array systems

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Trans-oceanic remote power hardware-in-the-loop: multi-site hardware, integrated controller, and electric network co-simulation

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IET GENERATION TRANSMISSION & DISTRIBUTION 2017年第18期11卷 4688-4701页

作者： Lundstrom, Blake Palmintier, Bryan Rowe, Daniel Ward, John Moore, Tim Natl Renewable Energy Lab Power Syst Engn Ctr Golden CO 80401 USA CSIRO Energy Ctr Newcastle NSW Australia

Electric system operators are increasingly concerned with the potential system-wide impacts of the large-scale integration of distributed energy resources including voltage control, protection coordination, and equipment wear. This prompts a need for new simulation techniques that can simultaneously capture all the components of these large integrated smart grid systems. This study describes a novel platform that combines three emerging research areas: power systems co-simulation, power hardware in the loop (PHIL) simulation, and lab-lab links. The platform is distributed, real-time capable, allows for easy internet-based connection from geographically-dispersed participants, and is software platform agnostic. The authors demonstrate its utility by studying real-time PHIL co-simulation of coordinated solar photovoltaic (PV) firming control of two inverters connected in multiple electric distribution network models, prototypical of US and Australian systems. The novel trans-pacific closed-loop system simulation was conducted in real time using a power network simulator and physical PV/battery inverter at power at the National Renewable Energy Laboratory in Golden, CO, USA and a physical PV inverter at power at the Commonwealth Scientific and Industrial Research Organisation's Energy Centre in Newcastle, NSW, Australia. This capability enables smart grid researchers throughout the world to leverage their unique simulation capabilities for multi-site collaborations that can effectively simulate and validate emerging smart grid technology solutions.

关键词： closed loop systems control engineering computing invertors photovoltaic power systems power distribution control power distribution protection power generation control power generation protection power system simulation secondary cells smart power grids voltage control

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