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Connection management in high-speed interconnection systems

Journal of High Speed Networks 1992年第2期1卷 145-166页

作者： Chlamtac, Imrich Martin, G. Kienzlet Department of Electrical and Computer Engineering University of Massachusetts United States

High-speed interconne ction systems for linking high-performance computers with each other and with their intelligent peripheral devices have gained great importance in recent years. The HIPPI standard which governs the interfaces to most of today’s high-speed interconnection systems is a representative, standardized interconnection solution and its control and performance issues are consequently of particular interest. This paper examines the issue of connection management control for these interconnection systems. It describes the interconnection system environment, the characteristics of the traffic being carried, and the ensuing problem of efficient connection management. Different management policies are described, ranging from policies that require a complete knowledge of the whole interconnection system’s state for their operation, to policies operating with only local client state knowledge. Considerations relevant to performance and switch implementation complexity trade-offs of the different policies are presented. Finally, priority access supporting connection management policies using preemptive and non-preemptive disciplines are described, and for the first time compared, using an analytic model introduced in this paper. Comparison of the two disciplines gives insights useful in choosing the preferred connection management policy and priority discipline, as a function of implementation objectives, the system’s particular traffic characterization and its performance requirements. © 1992 IOS Press. All rights reserved.

关键词： Connection-Oriented Communication control algorithms HIPPI Multitasking

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USP ACTIVE ABSORPTION WAVE BASIN: FROM CONCEPTION TO COMMISSIONING

USP ACTIVE ABSORPTION WAVE BASIN: FROM CONCEPTION TO COMMISS...

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29th ASME International Conference on Ocean, Offshore and Arctic Engineering

作者： de Mello, Pedro Cardozo Carneiro, Mario Luis Tannuri, Eduardo Aoun Nishimoto, Kazuo Univ Sao Paulo Sao Paulo Brazil

ISBN: (纸本)9780791849125

This paper presents the new active absorption wave basin constructed at the University of Sao Paulo (USP), in the Numerical Offshore Tank (TPN) Laboratory. The square (14m x 14m) tank is able to generate and absorb waves from 0.5Hz to 2.0Hz, by means of 148 active flap-type wavemakers. An independent mechanical system drives each flap by means of a 1HP servo-motor and a ball-screw based transmission system. A customized ultrasonic wave probe is installed in each flap, and is responsible for the measurement of wave elevation in the flap. These sensors do not require constant calibration, differently from the capacitive or resistive sensors normally used in similar tanks. A complex automation architecture was implemented, with 3 Programmable Logic Computers (PLC), and a low-level software is responsible for all the interlocks and maintenance functions of the tank. Furthermore, all the control algorithms for the generation and absorption are implemented using higher level software (MATLAB (R)/Simulink block diagrams). These algorithms calculate the motions of the wavemakers both to generate and absorb the required wave field by taking into account the layout of the flaps and the limits of wave generation. The experimental transfer function that relates the flap motion to the generated wave is used for the calculation of the motion of each flap. Absorption tests were conducted with a prototype wave generator in a 2D wave flume with regular waves. Two different algorithms were tested. The first one is the frequency domain method based on Maeda et al. (2004), in which the commanded variable is the motor velocity. Furthermore, the time domain algorithm proposed by Schaffer (1996) was also tested. It is based on a digital filter and uses the position of the motor as the commanded variable. Both algorithms have hydrodynamic feedback based on the measurement of surface elevation at each flap. The first algorithm needs an extensive test procedure to calibrate its control param

关键词： Servomotors Absorption Maintenance Ocean engineering Waves Screws Engines algorithms Filters Motors control algorithms Flumes Ultrasonic waves Computers Generators Computer software Sensors Engineering prototypes Calibration Reflectance Probes Transfer functions Feedback

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A Selective Negative Derivative Feedback algorithm to improve stability for inertial actuators 9

A Selective Negative Derivative Feedback algorithm to improv...

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Conference on Active and Passive Smart Structures and Integrated Systems IX

作者： Debattisti, N. Bacci, M. L. Cinquemani, S. Politecn Milan Dipartimento Meccan Via La Masa 1 I-20156 Milan Italy

ISBN: (数字)9781510635302

ISBN: (纸本)9781510635302

Inertial actuators are widely used in active vibration control, since they don't need to react off the base structure. Then, unlike reactive actuators, they can be used as modules that can be directly installed on a vibrating structure. In many cases, inertial actuators are used to develop some stand-alone active dampers. Such devices are embedded with sensors and a microcontroller, in order to independently perform the vibration control task. This kind of control unit is commonly adopted to implement decentralized architectures. In this work, the main goal was to limit instability phenomena related to the dynamics of inertial actuators. The proposed solution also aims to improve the performance of a decentralized control strategy through a partial sharing of data between devices, without the use of cables. First, the formulation of the modified Negative Derivative Feedback resonant controller is derived;then, the steps of the control strategy are explained, which are based on a preliminary modal identification of the structure and the assignment of a compensator for each resonance frequency to be controlled. Finally, the proposed method is validated with experimental results from a clamped-clamped beam.

关键词： Vibration control Inertial actuators control algorithms Wireless sensors Automation

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Underwater pipeline inspection method for AUV based on laser line recognition: simulation results

Underwater pipeline inspection method for AUV based on laser...

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IEEE Underwater Technology (UT) Conference

作者： Inzartsev, Alexander Eliseenko, Grigory Panin, Mikhail Pavin, Alexander Bobkov, Valerii Morozov, Mikhail FEB RAS Inst Marine Technol Problems Vladivostok Russia FEB RAS Inst Automat & Control Proc Vladivostok Turkey

ISBN: (纸本)9781538641880

The paper focuses on the scenario of automatic inspection of underwater pipelines with the help of AUV. The pipeline coordinates are determined by detecting the projection of the laser line. Such information is used to organize precise target-oriented AUV movement near the pipeline. control algorithms were debugged using a high-performance computing cluster interfaced with a real AUV navigation and control system. Simulation experiment results for various pipeline locations on a bottom surface are discussed.

关键词： autonomous underwater vehicle AUV underwater infrastructure inspection pipeline laser navigation and control system high-performance simulation framework control algorithms

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ELIMINATING PEAK IMPACT FORCES BY CUSTOMIZING THE PASSIVE FOOT DYNAMICS OF LEGGED ROBOTS

ELIMINATING PEAK IMPACT FORCES BY CUSTOMIZING THE PASSIVE FO...

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ASME International Design Engineering Technical Conferences / Computers and Information in Engineering Conference

作者： Rond, Jesse J. Cardani, Michael C. Campbell, Matthew I. Hurst, Jonathan W. Oregon State Univ Sch Mech Ind & Mfg Engn Dynam Robot Lab Corvallis OR 97331 USA Oregon State Univ Sch Mech Ind & Mfg Engn Design Engn Lab Corvallis OR 97331 USA

ISBN: (纸本)9780791859247

Impact forces are a destructive, yet common occurrence in legged locomotion. Every step produces a collision when the legs inertia immediately stops upon ground contact. This results in peak impact forces and high frequency vibrations that resonate through the system, damage components, and complicate control algorithms. Rubber or other damping material is the assumed solution for mitigating these impacts. However, we show the benefit of using foot springs where both stiffness and maximum compression are customized to the leg. Such springs eliminate peak impact forces by gradually bringing the legs inertia to rest. The maximum compression point (i.e. a hard stop) then provides a rigid surface during stance. We provide a methodology for designing this passive dynamic foot that is validated through simulation and physical testing. Our results show this methodology reduces rigid body impacts and foot vibrations in a way traditional methods, reliant upon rubber or damping, are yet to achieve.

关键词： Inertia (Mechanics) Dynamics (Mechanics) Rubber Robots Simulation Collisions (Physics) Damping Design Testing Vibration Compression Legged locomotion Springs Stiffness control algorithms Damage

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Analysis of High-Voltage Converters With Serial Connection Units And With Input Current Correction 21

Analysis of High-Voltage Converters With Serial Connection U...

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21st International Scientific Conference on Electric Power Engineering (EPE)

作者： Skorokhod, Yury Philin, Dmitriy Volskiy, Sergey Transconverter Design Off Moscow Russia Moscow Inst Aviat Technol Electropower Electromech & Biotechnol Syst Dept Moscow Russia

ISBN: (纸本)9781728194790

DC/DC high-voltage power converters with input voltage of 1500 ... 4000 V are considered. In such converters serial connection units, input current correction and galvanic separation between input and output voltages are applied. Basis power circuit and comparison criteria are chosen. Calculated equations for calculation amplitude of ripple of input current and power losses in power semiconductors for different power circuits and control algorithms are presented. Comparative analysis results of power circuits and control algorithms are presented. The article under review is of interest to researchers and developers of DC/DC high-voltage power converters, which have high requirements to consumption current quality with the use of relatively low-voltage power transistors.

关键词： DC/DC high-voltage power converter input current correction control algorithms amplitude of ripple power losses in transistors and diodes

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Adaptive control of a Two Input - Two Output System

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IFAC Proceedings Volumes 2001年第14期34卷 163-168页

作者： Marek Kubalčik Vladimir Bobál Department of Control Theory Institute of Information Technologies Tomas Bata University Nam. TGM 275 762 72 Zlin Czech Republic Phone Fax: +420 6 7 754 3217

This paper presents the design and simulation of adaptive control for a two input-two output system together with the real-time control of a laboratory model using this design method. The synthesis is based on a polynomial approach. Decoupling, where the compensator is placed ahead of the system, suppresses the interactions between control loops. The results of the simulation and the real-time experiments are also given.

关键词： multivariable control control algorithms decoupling compensators adaptive control

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FUZZY ACTIVE NOISE MODELING AND control OF ENCLOSURES

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IFAC Proceedings Volumes 2002年第1期35卷 235-240页

作者： J.M. Sousa C.A. Silva J.M. Sá da Costa Technical University of Lisbon Instituto Superior Técnico Dept. of Mechanical Engineering/GCAR - IDMEC Av. Rovisco Pais 1049-001 Lisbon Portugal Phone: +351-21-8417313 Siemens AG Corporate Technology Information and Communications Neural Computation Department 81730 Munich Germany

The design of active noise control has been developed in the last two decades based on linear identification and control tools. However, acoustic processes present nonlinearities coming both from the characteristics of the actuator and from the nature of the process. Recent research has emphasized the importance of nonlinear model-based controllers, which increase the performance of several types of systems. Direct and inverse multivariable fuzzy models can be identified directly from data using fuzzy clustering. Inverse models can then be applied directly as controllers, which can be included in an active noise control scheme. This paper proposes the use of fuzzy techniques in active noise control. The performance of the proposed control schemes is compared to classical FIR active noise control in an experimental setup. Model-based fuzzy controllers clearly outperform classical active noise controllers.

关键词： Active noise control fuzzy modeling fuzzy control multivariable control control algorithms

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Dynamics and control of free-flying robots in space: A survey

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IFAC Proceedings Volumes 2004年第8期37卷 621-626页

作者： S. Ali A. Moosavian Advanced Robotics & Automated Systems (ARAS) Research Center Department of Mechanical Engineering K.N. Toosi Univ. of Technology Tehran Iran P.O. Box 16767-3381 Fax: (+98) 21 733-4338

Free-flying space manipulator systems, in which robotic manipulators are mounted on a free-flying spacecraft, are envisioned for assembling, maintenance, repair, and contingency operations in space. Nevertheless, even for fixed-base systems, control of mechanical manipulators is a challenging task. This is due to the strong nonlinearities in the equations of motion, and consequently different algorithms have been suggested to control end-effector motion or force, since the early research in robotic systems. In this paper, first a brief review of basic concepts of various algorithms in controlling robotic manipulators is introduced. Then, specific problems related to application of such systems in space and a microgravity environment will be highlighted. Basic issues on the kinematics and dynamics modelling of such systems, trajectory planning and control strategies, experimental studies, and finally cooperation of multiple arm space free-flying robots will be surveyed.

关键词： Space Robotics control algorithms Force control Impedance control

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A Flexible Architecture for Telemanipulator control

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IFAC Proceedings Volumes 2001年第9期34卷 25-30页

作者： A. Weber H. Breitwieser J. Benner Forschungszentrum Karlsruhe Technik und Umwelt Postfach 3640 D-76021 Karlsruhe Germany Phone/FAX: (+49) 7247/82-3440 / -5786

Many automation tasks require human intervention and guidance. A control system architecture combining work units and master units by software interfaces is described. OSCAR 2 is incorporated as a universal transform service. It is regarding dynamic properties of work units. Implementing the transform at the master site eases integration of new robot types. The dynamic behaviour when crossing singular points is compared with a closed form standard transform. The control system has also been applied in medical manipulator systems.

关键词： telemanipulation distribution control control algorithms optimisation medical applications manual control

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