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An architecture to control mobile robots by means of code delegation and multi-agent systems

IFAC Proceedings Volumes 2004年第8期37卷 816-821页

作者： J.L. Posadas J.E. Simó F. Blanes G. Benet, J.L. Poza M. Albero Departamento de Informática de Sistemas y Computadores (D.I.S.C.A.) Universidad Politécnica de Valencia Spain

In this paper is presented an architecture to control mobile intelligent robots based on the hybrid reactive/deliberative paradigm. This architecture is multi-level and distributed, and their main components are mobile software agents that interact through a distributed blackboard communications system. These agents can run on processors on board or on fixed workstations depending on its real time constraints.

关键词： Mobile robots distributed computer control systems Object-orientedtechnology Agent-based systems Real-time systems

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Reconfigurable distributed control using smart peripheral elements

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control ENGINEERING PRACTICE 2003年第9期11卷 975-988页

作者： Benítez-Pérez, H García-Nocetti, F Univ Nacl Autonoma Mexico IIMAS Dept Ingn Sist Comput & Automat Mexico City 01000 DF Mexico

Increasingly, there is a move towards in-built intelligence for sensors and actuators in order to integrate these "smart" peripheral elements as part of a distributed control system. The utilisation of local intelligence to provide local fault detection and fault tolerance allows the incorporation of new variables into the structure of the system. The proposed approach is to integrate this information into the structure of the control law. Thus, the main goal is to integrate a decision-making procedure between peripheral elements and different control strategies. The reconfiguration of the control law, based upon local health measures, is decided by this procedure. (C) 2002 Elsevier Science Ltd. All rights reserved.

关键词： distributed computer control systems process automation supervision threshold decomposition

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Verification of distributed control systems in intelligent manufacturing

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JOURNAL OF INTELLIGENT MANUFACTURING 2003年第1期14卷 123-136页

作者： Vyatkin, V Hanisch, HM Univ Halle Wittenberg Dept Engn Sci D-06099 Halle Saale Germany

This paper presents an application of formal methods for validation of flexible manufacturing systems controlled by distributed controllers. A software tool verification environment for distributed applications (VEDA) is developed for modeling and verification of distributed control systems. The tool provides an intergrated environment for formal, model-based verification of the execution control of function blocks following the new international standard IEC61499. The modeling is performed in a closed-loop way using manually developed models of plants and automatically generated models of controllers.

关键词： verification distributed computer control systems modeling

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Communication jitter influence on control loops using protocols for distributed real-time systems on CAN bus. 5

Communication jitter influence on control loops using protoc...

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5th IFAC International Symposium on Intelligent Components and Instruments for control Applications

作者： Pérez, P Posadas, JL Poza, JL Benet, G Blanes, F Simó, JE Univ Politecn Valencia Dept Informat Sistemas & Computadores E-46071 Valencia Spain

ISBN: (纸本)008044010X

The paper focuses on the behaviour of distributed control loops affected by the jitter derived from the communication latencies of CAN. The work uses a hybrid communication protocol between a pure TTP (Time Triggered Protocol) and ETP (Event Triggered Protocol), a reasonable choice for distributed real-time systems, as a reactive mobile robot. This hybrid protocol shares the time-slots to reduce the jitter effects. This guarantees fixed transmissions latencies for periodic messages, allowing also sporadic messages transmission, as is the case of alarms, or in long data blocks, by means of using shared TTP slots. The protocol assigns private time slots for real-time messages, and shared time slots for non real-time messages. Also, the protocol uses only a simple and static table. The implementation is validated by means of a quantitative comparison, using the data obtained from a simulation of a typical distributed control system consisting of an industrial process and a remote controller forming a closed control loop that uses CAN as its communication channel. In the simulation, the effect of the jitter introduced into the control loop is measured for the above mentioned communication protocols, and the obtained results from this simulation are also discussed. Copyright (C) 2003 IFAC.

关键词： fieldbus systems distributed computer control systems real-time distributed systems multi sensor systems autonomous vehicles

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Communication jitter influence on control loops using protocols for distributedreal-time systems on can bus

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IFAC Proceedings Volumes 2003年第12期36卷 215-221页

作者： P. Pérez J.L. Posadas J.L. Poza G. Benet F. Blanes J.E. Simó Departamento de Informatica de Sistemas y Computadores Universidad Politécnica de Valencia (Spain)

The paper focuses on the behaviour of distributed control loops affected by the jitter derived from the communication latencies of CAN. The work uses a hybrid communication protocol between a pure TTP (Time Triggered Protocol) and ETP (Event Triggered Protocol), a reasonable choice for distributed real-time systems, as a reactive mobile robot. This hybrid protocol shares the time-slots to reduce the jitter effects. This guarantees fixed transmissions latencies for periodic messages, allowing also sporadic messages transmission, as is the case of alarms, or in long data blocks, by means of using shared TTP slots. The protocol assigns private time slots for realtime messages, and shared time slots for non real-time messages. Also, the protocol uses only a simple and static table. The implementation is validated by means of a quantitative comparison, using the data obtained from a simulation of a typical distributed control system consisting of an industrial process and a remote controller forming a closed control loop that uses CAN as its communication channel. In the simulation, the effect of the jitter introduced into the control loop is measured for the above mentioned communication protocols, and the obtained results from this simulation are also discussed.

关键词： fieldbus systems distributed computer control systems real-time distributed systems multi sensor systems autonomous vehicles

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Industrial Tools and Emulators in Bachelor Education

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IFAC Proceedings Volumes 2003年第10期36卷 231-236页

作者： Jana Flochová Iveta Zolotová Dušan Mudrončík Department of Automatic Control Systems FEISTU Bratislava Slovak republic Department of Cybernetics and Artificial Intelligence TU Košice Slovak republic ++421 2 60291 667 ++421 55 602 2570

The aim of this paper is to show the simulation, emulation and diagnostic possibilities of several industrial controllers and tools installed in our laboratories as well as the possibilities of exploitation of this simulation in the SCADA/HMI design, testing and in the teaching of SCADA/HMI design principles. Some software models of chemical plants have been designed with help of industrial simulation and emulation tools in our laboratories. This has been used for teaching and for SCADA/HMI applications and WEB control design and testing.

关键词： Simulation Emulation Programmable logic controllers distributed computer control systems Human-machine interface control education

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The FTT-CAN protocol: Why and how

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IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS 2002年第6期49卷 1189-1201页

作者： Almeida, L Pedreiras, P Fonseca, JAG Univ Aveiro DET IEETA P-3810193 Aveiro Portugal

The requirement for flexible operation is becoming increasingly important in modern industrial systems. This requirement has to be supported at all system levels, including the field level in process industry, as well as the cell and machine control levels in manufacturing industry, where fieldbus-based communication systems are commonly found. Furthermore, typical applications at these levels require both time- and event-triggered communication services, in most cases under stringent timing constraints, to convey state data in the former case and alarms and management data in the latter. However, neither the requirement for flexible operation under guaranteed timeliness nor for joint support of time and event-triggered traffic are efficiently fulfilled by most of existing fieldbus systems. This paper presents a new protocol, Flexible Time-Triggered communication on controller Area Network, which fulfills both requirements: it supports time-triggered communication in a flexible way as well as being an efficient combination of both time- and event-triggered traffic with temporal isolation. These types of traffic are handled by two complementary subsystems, the Synchronous and the Asynchronous Messaging systems, respectively. The paper includes a justification for the new protocol as well as its description and worst case temporal analysis for both subsystems. This analysis shows the capability of the protocol to convey real-time traffic of either type.

关键词： distributed computer control systems fieldbus systems flexible real-time communication real-time distributed systems real-time scheduling

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Communications structure for sensory data in mobile robots

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ENGINEERING APPLICATIONS OF ARTIFICIAL INTELLIGENCE 2002年第3-4期15卷 341-350页

作者： Posadas, JL Pérez, P Simó, JE Benet, G Blanes, F Univ Politecn Valencia DISCA Valencia 46022 Spain

Mobile robotics development provides an excellent opportunity to experiment with various architectural solutions for distributed real-time systems. This is because of the increasing complexity of sensor and actuator hardware, and the interaction between intelligent features and real-time constraints. Currently, hybrid control structures seem to be the most widespread method of control. This paper describes a communications scenario resulting from hybrid structures. The YAIR robot and its communication infrastructure is described by addressing the control problems found and the solutions adopted. This paper presents a case study of implementing a hybrid communications system using the CAN bus. The worst-case message delay analysis for this bus is also presented, as well as the structure of identifiers defining its semantic possibilities. The deliberative part of the communication system is a developed object bus on TCP/IP protocol networks. The programming interface at this level takes the form of a distributed blackboard with extended properties such as a bind-notification mechanism and a temporal register recording the temporal firewall of information supplied. The overlap between both communication systems is a gateway service performing bi-directional mirroring over a set of CAN identifiers. Finally, a system test is presented. The test emphasises the intra-level gateway for validating performance and time expressiveness. (C) 2002 Elsevier Science Ltd. All rights reserved.

关键词： mobile robots distributed computer control systems smart sensors sensor fusion field buses

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Schedulability analysis of real-time traffic in WorldFIP networks: An integrated approach

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IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS 2002年第5期49卷 1165-1174页

作者： Almeida, L Tovar, E Fonseca, JAG Vasques, F Univ Aveiro DET IEETA P-3810193 Aveiro Portugal Inst Politecn Porto ISEP DEI Oporto Portugal Univ Porto FEUP DEMEGI Oporto Portugal

The WorldFIP protocol is one of the profiles that constitute the European fieldbus standard EN-50170. It is particularly well suited to be used in distributed computer-controlled systems where a set of process variables must be shared among network devices. To cope with the real-time requirements of such systems, the protocol provides communication services based on the exchange of periodic and aperiodic identified variables. The periodic exchanges have the highest priority and are executed at run time according to a cyclic schedule. Therefore, the respective schedulability can be determined at pre-run-time when building the schedule table. Concerning the aperiodic exchanges, the situation is different since their priority is lower and they are handled according to a first-come-first-served policy. In this paper, a, response-time-based schedulability analysis for the real-time traffic is presented. Such analysis considers both types of traffic in an integrated way, according to their priorities. Furthermore, a fixed-priorities-based policy is also used to schedule the periodic traffic. The proposed analysis represents an improvement relative to previous work and it can be evaluated online as part of a traffic online admission control. This feature is of particular importance when a planning scheduler is used, instead of the typical offline static scheduler, to allow online changes to the set of periodic process variables.

关键词： distributed computer control systems real-time communication response time scheduling algorithms

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Field device model for instrumentation & engineering

Field device model for instrumentation & engineering

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IEEE International Symposium on Industrial Electronics

作者： Simon, R Neumann, P Diedrich, C Inst Automat & Kommunikat EV D-39179 Barleben Germany

ISBN: (纸本)0780373693

Device Descriptions are necessary for the integration of intelligent field devices in commissioning & maintenance tools, engineering systems or MES / ERP systems. Device Descriptions comprise of device models and presentations based on the models (e.g. ASCII files). The XML concept may help to enlarge the application scope of Device Description because it is becoming one of the basic technologies of the fast growing internet and various e-engineering activities. Other realisations have to be based on the same device model (e.g. component interfaces). These issues are addressed from a modelling and implementation / realisation point of view.

关键词： distributed computer control systems formal methods computer-aided engineering

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