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distributed real-time control OF A SPATIAL ROBOT JUGGLER

COMPUTER 1992年第5期25卷 12-24页

作者： RIZZI, AA WHITCOMB, LL KODITSCHEK, DE YALE UNIV ROBOT LABNEW HAVENCT 06520 YALE UNIV ELECT ENGNNEW HAVENCT 06520

The Yale spatial juggler and an emerging set of working principles for the design and implementation of embedded real-time distributed controllers are described. The robot uses a distributed network of transputers to process stereo camera data and control the torque of a three-degree-of-freedom arm to juggle a ball. The juggling algorithm is a direct extension of a novel class of nonlinear feedback controllers, called mirror laws. The algorithm takes the form of a mathematical expression that specifies robot position as a function of the ball's position and velocity. The programming approach, called geometric programming, substitutes event-driven dynamical processes and geometrical transformations for a more syntactically oriented if-then-else approach

关键词： Yale spatial juggler computer vision computerised control distributed control distributed network distributed real-time control embedded real-time distributed controllers event-driven dynamical processes geometric programming geometric programming geometrical transformations juggling algorithm mathematical expression mirror laws mobile robots nonlinear feedback controllers position control programming approach real-time systems robot position robot programming spatial robot juggler stereo camera data syntactically oriented if-then-else approach three-degree-of-freedom arm torque transputers transputers working principles

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Modularised, distributed real-time control of flexible production cells, using Petri nets

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control ENGINEERING PRACTICE 1996年第8期4卷 1067-1078页

作者： Feldmann, K Schnur, C Colombo, W Institute for Manufacturing Automation and Production Systems University of Erlangen-Nuremberg Egerlandstrasse 7/9 91058 Erlangen Germany

The main goal of this work is the design of a real-time scheduler for controlling flexible production cells using an extension of Petri nets. The approach comprises a modularisation of a Petri-net, which models the different resources of the cell under study. This leads to the design of a distributed discrete-event control system, which is built up of three main structures, the coordination system, and the local and complex controllers for solving conflicts. The dynamics of the proposed control system is operated by means of an application protocol, which allows for coordination and synchronisation between both controllers, The validation of this approach is shown on an example application.

关键词： Petri nets modelling flexible manufacturing systems (FMS) scheduling algorithms distributed real-time control

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distributed real-time HVAC control for Cost-Efficient Commercial Buildings Under Smart Grid Environment

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IEEE INTERNET OF THINGS JOURNAL 2018年第1期5卷 44-55页

作者： Yu, Liang Xie, Di Jiang, Tao Zou, Yulong Wang, Kun Nanjing Univ Posts & Telecommun Key Lab Broadband Wireless Commun & Sensor Networ Minist Educ Nanjing 210003 Jiangsu Peoples R China Huazhong Univ Sci & Technol Sch Elect Informat & Commun Wuhan Natl Lab Optoelect Wuhan 430074 Hubei Peoples R China

In this paper, we investigate the problem of minimizing the long-term total cost (i.e., the sum of energy cost and thermal discomfort cost) associated with a heating, ventilation, and air conditioning (HVAC) system of a multizone commercial building under smart grid environment. To be specific, we first formulate a stochastic program to minimize the time average expected total cost with the consideration of uncertainties in electricity price, outdoor temperature, the most comfortable temperature level, and external thermal disturbance. Due to the existence of temporally and spatially coupled constraints as well as unknown information about the future system parameters, it is very challenging to solve the formulated problem. To this end, we propose a real-time HVAC control algorithm based on the framework of Lyapunov optimization techniques without the need to predict any system parameters and know their stochastic information. The key idea of the proposed algorithm is to construct and stabilize virtual queues associated with indoor temperatures of all zones. Moreover, we provide a distributed implementation of the proposed real-time algorithm with the aim of protecting user privacy and enhancing algorithmic scalability. Extensive simulation results based on real-world traces show that the proposed algorithm could reduce energy cost effectively with small sacrifice in thermal comfort.

关键词： Commercial buildings distributed real-time control energy cost heating ventilation and air conditioning (HVAC) Lyapunov optimization techniques (LOTs) smart grid thermal discomfort

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A distributed-PROGRAMMING MODEL FOR real-time INDUSTRIAL control

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control ENGINEERING PRACTICE 1995年第8期3卷 1133-1138页

作者： BAYNE, JS Elsag Bailey Process Automation 29801 Euclid Avenue Wickliffe OH 44092 USA

The domain of industrial automation increasingly requires intelligent control, distributed real-time behaviors, and greater degrees of scalability. This has led to the creation of a new realtime, distributed, object-oriented virtual machine focused on the management of hybrid dynamic (i.e., continuous and discrete event) systems. This paper provides an outline of the virtual machine's programming model and some of its implications on the underlying execution environment.

关键词： distributed real-time control INTELLIGENT AUTOMATION distributed SYSTEMS distributed PROGRAMMING real-time DCS OPERATING SYSTEMS

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Bandwidth allocation scheme in CAN protocol

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IEE PROCEEDINGS-control THEORY AND APPLICATIONS 2000年第1期147卷 37-44页

作者： Hong, SH Kim, WH Hanyang Univ Dept Control & Instrumentat Engn Ansan 425791 South Korea

The CAN (controller area network) is a serial communication protocol for distributed real-time control and automation systems. Data generated from field devices in manufacturing automation and process control systems are classified into three categories: real-time event data, real-time control data and non-real-time data. These data share a common CAN medium. Unless the traffic of the CAN protocol is efficiently controlled, performance of the real-time application systems interconnected into the CAN bus can be degraded. The paper proposes a bandwidth allocation algorithm that can be applicable to the CAN protocol. The bandwidth allocation algorithm not only satisfies the performance requirement of real-time application systems interconnected into the CAN but also fully utilises the bandwidth of the CAN. The bandwidth allocation algorithm introduced in the paper is validated using a simulation experiment.

关键词： Industrial processes bandwidth allocation distributed real-time control control engineering computing serial communication protocol Manufacturing processes CAN protocol controller area network controller area networks real-time systems Instrumentation buses process control real-time event data protocols Instrumentation buses and protocols control in industrial production systems Instrumentation bandwidth allocation scheme nonreal-time data real-time control data control applications in manufacturing processes Industrial applications of IT distributed control Protocols

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