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检索条件"主题词=Control Engineering Computing"

共 1546 条记录，以下是781-790 订阅

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A User Space EtherCAT Master Architecture for Hard Real-Time control Systems

A User Space EtherCAT Master Architecture for Hard Real-Time...

引用

17th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA)

作者： Cereia, Marco Scanzio, Stefano IEIIT CNR I-10129 Turin Italy

ISBN: (纸本)9781467347372

Recently, the open-source EtherCAT master developed by the IgH company, has been enhanced with the introduction of the EtherCAT library, which allows to develop control applications in user space. This feature makes it possible to build complex applications that need to use the floating point unit or existing user space libraries. Unfortunately, the EtherCAT library does not seem to be able to guarantee a high degree of determinism. In this paper, first the real-time performance of the user space implementation of the EtherCAT master is evaluated and compared with the one that can be obtained by implementing the same control application at the kernel level. Then, we propose an alternative hard real-time approach based on RTAI, that allows to exploit all the advantages of user space development, with a negligible impact on performance.

关键词： control engineering computing field buses local area networks public domain software software libraries

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FPGA-implementation of Passivity-based control for Elastic-joint Robot

FPGA-implementation of Passivity-based Control for Elastic-j...

引用

IEEE International Conference on Robotics and Biomimetics (ROBIO)

作者： Zhang, Qi Xie, Zongwu Cai, Hegao Liu, Hong Harbin Inst Technol Harbin Peoples R China

ISBN: (纸本)9781467321273;9781467321259

The work present a humanoid robot with flexible joints and study the passivity control to improve the tracking performance. First, we induce the passivity control function and verified it in Simulink, then divide it into linear and non-linear part which execute in FPGA and DSP respectively. The linear part in FPGA is designed with hardware/software co-design method. Vector control is adopted to control the permanent magnet synchronous motor (PMSM) and programmed in Hardware Description Language (HDL) to make sure the motor be a torque generator. Experiments on a robotic manipulator are done and the results demonstrate the effectiveness and correctness of the proposed controller.

关键词： control engineering computing digital signal processing chips elasticity field programmable gate arrays flexible manipulators hardware description languages hardware-software codesign humanoid robots machine vector control permanent magnet motors synchronous motors torque control tracking

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Using movement primitives in interpreting and decomposing complex trajectories in learning-by-doing

Using movement primitives in interpreting and decomposing co...

引用

IEEE International Conference on Robotics and Biomimetics (ROBIO)

作者： Soltoggio, Andrea Lemme, Andre Steil, Jochen J. Research Institute for Cognition and Robotics (CoR-Lab) Bielefeld Universitt 33615 Bielefeld Germany

ISBN: (纸本)9781467321273;9781467321259

Learning and reproducing complex movements is an important skill for robots. However, while humans can learn and generalise new complex trajectories, robots are often programmed to execute point-by-point precise but fixed patterns. This study proposes a method for decomposing new complex trajectories into a set of known robot-based primitives. Instead of reproducing accurately an observed trajectory, the robot interprets it as a composition of its own previously acquired primitive movements. The method attempts initially a rough approximation with the idea of capturing the most essential features of the movement. Observing the discrepancy between the demonstrated and reproduced trajectories, the process then proceeds with incremental decompositions. The method is tested on both geometric and human generated trajectories. The shift from a data-centred view to an agent-centred view in learning trajectories results in generalisation properties like the abstraction to primitives and noise suppression. This study suggests a novel approach to learning complex robot motor patterns that builds upon existing motor skills. Applications include drawing, writing, movement generation and object manipulation in a variety of tasks.

关键词： control engineering computing interference suppression learning (artificial intelligence) robot programming trajectory control

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Opportunities and Challenges of Static Code Analysis of IEC 61131-3 Programs

Opportunities and Challenges of Static Code Analysis of IEC ...

引用

17th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA)

作者： Praehofer, Herbert Angerer, Florian Ramler, Rudolf Lacheiner, Hermann Grillenberger, Friedrich Johannes Kepler Univ Linz Inst Syst Software A-4040 Linz Austria Software Competence Ctr Hagenberg Austria ENGEL AUSTRIA GmbH Schwertberg Austria

ISBN: (纸本)9781467347372;9781467347358

Static code analysis techniques analyze programs by examining the source code without actually executing them. The main benefits lie in improving software quality by detecting potential defects and problematic code constructs in early development stages. Today, static code analysis is widely used and numerous tools are available for established programming languages like C/C++, Java, C# and others. However, in the domain of PLC programming, static code analysis tools are still rare. In this paper we present an approach and tool support for static code analysis of PLC programs. The paper discusses opportunities static code analysis can offer for PLC programming, it reviews techniques for static analysis, and it describes our tool that implements a rule-based analysis approach for IEC 61131-3 programs.

关键词： control engineering computing knowledge based systems program diagnostics programmable controllers software quality

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A Method to Construct Network Traffic Models for Process control System

A Method to Construct Network Traffic Models for Process Con...

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17th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA)

作者： Garitano, Inaki Siaterlis, Christos Genge, Bela Uribeetxeberria, Roberto Zurutuza, Urko Mondragon Univ Elect & Comp Dept Goiru 2 Arrasate Mondragon 20500 Spain Joint Res Ctr Inst Protect & Secur Citizen I-21027 Ispra VA Italy

ISBN: (纸本)9781467347372;9781467347358

Nowadays, it is a well-known fact that modern Critical Infrastructures (CIs) depend on Information and Communication Technologies (ICT). Supervisory control and Data Acquisition (SCADA) systems with off-the-shelf ICT hardware and software found their way in Process control Systems (PCSs) due to their simplicity and cost-efficiency. However, recent incidents such as Stuxnet, Duqu or Night Dragon revealed new ICT vulnerabilities and attack scenarios in PCSs. Nevertheless, as shown by recent events, security studies on real SCADA systems are challenging due to the lack of proper experimentation environments. Through this work we develop a method to generate realistic network traffic in laboratory conditions without the need of a real PCS installation. This is indeed our main contribution as the basis of future anomaly detection systems. Such method could support experimentation through the recreation of realistic traffic in simulated environments. The accuracy and fidelity of the proposed approach was validated with several statistical methods that compare the predicted traffic with traffic taken from a real installation.

关键词： SCADA systems control engineering computing critical infrastructures process control security of data statistical analysis

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Towards Cloud Robotic System: A Case Study of Online Co-localization for Fair Resource Competence

Towards Cloud Robotic System: A Case Study of Online Co-loca...

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IEEE International Conference on Robotics and Biomimetics (ROBIO)

作者： Wang, Lujia Liu, Ming Meng, Max Q. -H Chinese Univ Hong Kong Dept Elect Engn Hong Kong Hong Kong Peoples R China

ISBN: (纸本)9781467321273;9781467321259

The cloud transforms the potential of robotics, which enable poor-equipped robots to fulfill complex tasks. Robots are relieved from hardware limitation, while large amount of available resources and parallel computing capability are available in the "cloud". We implemented a data management system using Twisted-based server-client platform and Robotic Operating System (ROS), aiming at co-localization of cloud robots. However, resource competition is pervasive for practical applications of networked robotics. As a major bridge, the limited bandwidth becomes a bottleneck needs to be considered for the architecture design. We propose an infrastructure which considers multi-robot autonomous negotiation (MRAN) module. The framework is validated by enabling several poor-equipped robots to retrieve location data from a dynamically updated map which is built by a well-equipped robot. Experiment results demonstrate that the proposed framework is feasible for current robotic applications. Furthermore, it achieves better performance under resource competition, and optimizes Quality of Service (QoS) using a shared network with limited bandwidth.

关键词： client-server systems cloud computing control engineering computing multi-robot systems operating systems (computers) parallel processing quality of service

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Dynamic Simulation of Water Strider Robot based on ADAMS and MATLAB

Dynamic Simulation of Water Strider Robot based on ADAMS and...

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IEEE 5th International Conference on Advanced Computational Intelligence (ICACI)

作者： Gao, Tiehong Wang, Lan He, Chong Sun, Jianming Hebei Univ Technol Sch Mech Engn Tianjin 300130 Peoples R China

ISBN: (纸本)9781467317443

Co-simulation based on ADAMS and MATLAB software is introduced in this paper to study dynamic characters of one kind of water strider robot. control model, composed of DC servo motor model and hydrodynamic model, is built in MATLAB/Simulink software. Combined with mechanical model built in ADAMS software, electro-mechanical co-simulation model of whole water strider robot system is developed. Simulation results show that co-simulation platform is established successfully. Movements on water surface of water strider robot subjected to water resistance and motor driving force can be viewed clearly. Furthermore the platform can be used to study the influence of parameter variation on robot movement characters to achieve optimized robot.

关键词： control engineering computing hydrodynamics legged locomotion optimisation servomotors

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An Integrated State- and Event-Based Framework for Verifying Liveness in Supervised Systems

An Integrated State- and Event-Based Framework for Verifying...

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12th International Conference on control, Automation, Robotics and Vision (ICARCV)

作者： Markovski, J. Reniers, M. A. Eindhoven Univ Technol NL-5600 MB Eindhoven Netherlands

ISBN: (纸本)9781467318723;9781467318716

Supervisory control theory deals with synthesis of discrete-event supervisory controllers that ensure safe (and nonblocking) behavior of the supervised system. However, the synthesized supervisor comes with no guarantees regarding desired functionality beyond nonblocking behavior. This typically occurs when the control requirements imposed on the system are too strict, or the model of the system needs to be refined. To provide concise and useful feedback to the modeler, we propose an integrated state-and event-based systems engineering framework using state-of-the-art tools: Supremica for supervisor synthesis and mCRL2 for verification. Stating properties in terms of both states and transitions is important in the domain of supervisor synthesis as many control and liveness requirements involve combined state-and event-based specifications. However, many of the available verification tools either focus on state-based or event-based properties. We seek to remedy this situation by providing verification patterns that typically occur in industrial application of supervisory control. We illustrate the framework by revisiting an industrial case study of coordinating maintenance procedures of a high-tech Oce printer, for which we verify the functionality of the solution.

关键词： control engineering computing discrete event systems formal verification

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Throughput Regulation in Multicore Processors via IPA

Throughput Regulation in Multicore Processors via IPA

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51st IEEE Annual Conference on Decision and control (CDC)

作者： Almoosa, N. Song, W. Yalamanchili, S. Wardi, Y. Georgia Inst Technol Sch Elect & Comp Engn Atlanta GA 30332 USA

ISBN: (纸本)9781467320665

This paper presents an online controller for regulating the throughput of instruction-sequences in multicore processors using dynamic voltage-frequency scaling. The proposed control law comprises an integral controller whose gain is adjusted online based on the derivative of the frequency-throughput relationship. This relationship is modeled as a stochastic DEDS having no analytic functional form, and hence its derivative is estimated by Infinitesimal Perturbation Analysis (IPA). However, the DEDS is multi-class and hence the IPA derivative is biased. Biasedness of IPA is a common problem in multi-class DEDS which has hindered the development of IPA as a general tool for practical applications. However, recently it has been suggested that as long as the relative bias has certain upper bounds, optimization algorithms and control laws can still converge to optimal or near-optimal parameters. The purpose of this paper is to demonstrate this point for the aforementioned problem of throughput regulation, thereby suggesting the potential emergence of a new class of effective control laws in computer architectures.

关键词： computer architecture control engineering computing discrete event systems multidimensional systems multiprocessing systems optimisation perturbation techniques stochastic systems

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Community-Driven Development of Standard Software Modules for Search and Rescue Robots

Community-Driven Development of Standard Software Modules fo...

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IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)

作者： Kohlbrecher, Stefan Petersen, Karen Steinbauer, Gerald Maurer, Johannes Lepej, Peter Uran, Suzana Ventura, Rodrigo Dornhege, Christian Hertle, Andreas Sheh, Raymond Pellenz, Johannes Tech Univ Darmstadt Darmstadt Germany Graz Univ Technol Graz Austria Univ Maribor Maribor Slovenia Inst Super Tecn Lisbon Portugal Univ Freiburg Freiburg Germany Robolit LLC Philadelphia PA 19103 USA Deutsche Bundeswehr Frankfurt Germany

The main goal of the paper is to continuously enlarge the set of software building blocks that can be reused in the search and rescue domain.

ISBN: (纸本)9781479901654;9781479901647

The main goal of the paper is to continuously enlarge the set of software building blocks that can be reused in the search and rescue domain.

关键词： control engineering computing service robots

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