This paper describes the design and implementation of a modular distributed architecture for distributed autonomous control of modular robot systems using parallel programming in industrial robotic manufacturing appli...
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This paper describes the design and implementation of a modular distributed architecture for distributed autonomous control of modular robot systems using parallel programming in industrial robotic manufacturing applications. The control system has an overall hierarchical structure, and parallel structure in its lower levels. The lower levels are composed of several autonomous units;each unit is equipped with a microprocessor-based controller, and has its own control functions with sensors, actuators, and communication interfaces as an intelligent autonomous sensing and actuating device. Operations of these autonomous actuators are integrated through a communication network of serial bus type. An autonomous actuator is a basic unit for distributed motion control of a robotic mechanism. Because of the hardware and software modularity, they have the advantages such as reduction of system costs, application flexibility, system reliability, and system extensibility. A microcontroller-based flexible and extensible architecture is proposed, and the features of distributed microcontroller implementation are discussed. For a two degrees of freedom robotic mechanism, a mobile robot with two coaxial independently driving wheels, position and velocity control algorithms to follow a planned path cooperatively are implemented, and the performance of the proposed architecture is experimentally evaluated. (C) 2003 Elsevier Science B.V. All rights reserved.
Energy resource scheduling and Intelligent load controlling through smart grid is a fashion in modern power systems to enhance reliability and efficiency. Microgrid also use smart controlling technologies to sustain g...
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ISBN:
(纸本)9781467357951;9781467357975
Energy resource scheduling and Intelligent load controlling through smart grid is a fashion in modern power systems to enhance reliability and efficiency. Microgrid also use smart controlling technologies to sustain grid stability when it is in islanding conditions. The aim of this research is to present a new control strategy that is based on distributed autonomous control strategies and Multi Agent Systems Architectures. This new control algorithm is more robust to gain maximum benefits expected from microgrid. A microgrid testbed is being constructed which is consists of identified energy resources, storages and loads for commercial buildings or large apartments. The New control strategy provides flexibility to connect or disconnect any device in any time without disturbing to the system operation. It behave as a collection of devices those are connected in ad-hoc manner to the microgrid system. A simulation has done to verify the system operation when dynamically changing the assets of the microgrid. MATLAB Simulink libraries are used to develop the power system and Java Agent Development Environment is used to implement control system. This paper presents the simulation results for several case studies by connecting and disconnecting Energy resources and load units.
In this paper, a novel robotic system called modular transformer (M-TRAN) is proposed. M-TRAN is a distributed, self-reconfigurable system composed of homogeneous, robotic modules. The system can change its configurat...
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In this paper, a novel robotic system called modular transformer (M-TRAN) is proposed. M-TRAN is a distributed, self-reconfigurable system composed of homogeneous, robotic modules. The system can change its configuration by changing each module's position and connection. Each module is equipped with an onboard microprocessor, actuators, intermodule communication/power transmission devices and intermodule connection mechanisms. The special design of M-TRAN module realizes both reliable and quick self-reconfiguration and versatile robotic motion. For instance, M-TRAN is able to metamorphose into robotic configurations such as a legged machine and hereby generate coordinated walking motion without any human intervention. An actual system with ten modules was built and basic operations of self-reconfiguration and motion generation were examined through experiments. A series of software programs has also been developed to drive M-TRAN hardware, including a simulator of M-TRAN kinematics, a user interface to design appropriate configurations and motion sequences for given tasks, and an automatic motion planner for a regular cluster of M-TRAN modules. These software programs are integrated into the M-TRAN system supervised by a host computer. Several demonstrations have proven its capability as a self-reconfigurable robot.
In this paper, a distributed autonomous control system based on intelligent multi-agent system (IMAS) is proposed. The framework for IMAS composed of control and protection intelligent agents (CPIAs) is introduced. Th...
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In this paper, a distributed autonomous control system based on intelligent multi-agent system (IMAS) is proposed. The framework for IMAS composed of control and protection intelligent agents (CPIAs) is introduced. The detailed structure and protection schemes of CPIA are illustrated. A simple distribution network with DGs is built on the simulation platform of DIg SILENT. The simulations provide persuasive evidence that IMAS can efficiently and accurately locate and isolate the faults. It is evident that IMAS can react faster than traditional relay protection and promote the reliability of distribution network. Copyright (C) 2018 The Authors. Published by Elsevier Ltd.
Cloud computing became recently a common paradigm in both industry and academia. Sensitive applications such as medical, military, and financial ones rely on clouds' platform. Therefore, services continuity should...
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ISBN:
(纸本)9781467359405
Cloud computing became recently a common paradigm in both industry and academia. Sensitive applications such as medical, military, and financial ones rely on clouds' platform. Therefore, services continuity should be guaranteed as much as possible. However, services are sensitive to the network Quality of Service (QoS). Heavy network traffic may have its negative impact on services execution in a cloud environment. In extreme cases, cloud services may be completely interrupted due to many reasons including natural disasters - such as earthquakes and tornadoes - and human-induced disasters ranging from hackers to terrorists. In such circumstances, services should be automated without human intervention in order to minimize losses as much as possible. In this paper, the Partitioned Services Layer (PSL) architecture is proposed. It categorizes services into real-time and non real-time. Since real-time services are critical, they should not be subject to QoS. Therefore, they run on a distributed autonomous control (DAC) environment in which devices are connected through a Local Area Network (LAN). On the other hand, non real-time services are executed in the cloud environment to reduce costs. Nevertheless, basic services are automated by another autonomous system which is based on case reasoning. Finally, the proposed architecture is analyzed and compared to other related work.
In this paper, a distributed autonomous control system based on intelligent multi-agent system (IMAS) is proposed. The framework for IMAS composed of control and protection intelligent agents (CPIAs) is introduced. Th...
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In this paper, a distributed autonomous control system based on intelligent multi-agent system (IMAS) is proposed. The framework for IMAS composed of control and protection intelligent agents (CPIAs) is introduced. The detailed structure and protection schemes of CPIA are illustrated. A simple distribution network with DGs is built on the simulation platform of DIgSILENT. The simulations provide persuasive evidence that IMAS can efficiently and accurately locate and isolate the faults. It is evident that IMAS can react faster than traditional relay protection and promote the reliability of distribution network.
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