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Scalable load balancing for large-scale web server clusters

Journal of Computational Information systems 2014年第13期10卷 5763-5771页

作者： Huang, Chuibi Wang, Jinlin Wu, Gang Chen, Jun Department of Automation University of Science and Technology of China Key Laboratory of Network Communication System and Control Hefei China Institute of Acoustics Chinese Academy of Sciences National Network New Media Engineering Research Center Beijing China

Load balancing is a fundamental technology to provide scalability for web server clusters. But in the scenarios where the web server clusters have massive amount of user accesses, a single load balancing server is unable to carry the user visits. Therefore load balancing tasks should be undertaken among a set of load balancing servers. Correspondingly the loads among these servers also need to be balanced. In this paper, we proposed a load balancing scheme that could provide scalability, availability and reliability for large-scale web server clusters. The scheme combines existing routing techniques and splits the function of load balancing into three levels that could be implemented by different devices, thereby enabling the web server cluster scales with user accesses. The experiment results have demonstrated the effectiveness of the program. © 2014 by Binary Information Press

关键词： Scalability

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Development and learning control of a human limb with a rehabilitation exoskeleton

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IEEE Transactions on Industrial Electronics 2014年第7期61卷 3776-3785页

作者： Lu, Renquan Li, Zhijun Su, Chun-Yi Xue, Anke Institute of Information and Control Hangzhou Dianzi University Hangzhou 310018 China Key Laboratory of Autonomous System and Network Control College of Automation Science and Engineering South China University of Technology Guangzhou 510640 China College of Automation Science and Engineering South China University of Technology Guangzhou 510640 China Department of Mechanical and Industrial Engineering Concordia University Montreal QC H3G 1M8 Canada

This paper describes a novel development of a lower limber exoskeleton for physical assistance and rehabilitation. The developed exoskeleton is a motorized leg device having a total of 4 DOF with hip, knee, and ankle actuated in the sagittal plane. The exoskeleton applies forces and learns the impedance parameters of both robot and human. An adaptive control scheme by incorporating learning control approaches into the exoskeleton system is developed to help the leg movement on a desired periodic trajectory and handle periodic uncertainties with known periods. The proposed control approach does not require a muscle model and can be proven to yield asymptotic stability for a nonlinear muscle model and an exoskeleton model in the presence of bounded nonlinear disturbances (e.g., spasticity and fatigue). The performance of the controller is demonstrated through closed-loop experiments on human subjects. The experiments illustrate the ability of the exoskeleton to enable the leg shank to track single and multiple period trajectories with different periods and ranges of motion. © 2013 IEEE.

关键词： Muscle

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Experimental Verification of a Multi-robot Distributed control Algorithm with Containment and Group Dispersion Behaviors: the Case of Dynamic Leaders

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IEEE/CAA Journal of Automatica Sinica 2014年第1期1卷 54-60页

作者： Hejin Zhang Zhiyun Zhao Ziyang Meng Zongli Lin Department of Automation and Key Laboratory for System Control and Information Processing of Ministry of Education Shanghai Jiao Tong University the Access Linnaeus Centre School of Electrical Engineering Royal Institute of Technology Charles L. Brown Department of Electrical and Computer Engineering University of Virginia

This paper studies the containment and group dispersion control for a multi-robot system in the presence of dynamic leaders. Each robot is represented by a doubleintegrator dynamic model and a distributed control algorithm is developed to drive the multi-robot system to follow a group of dynamic leaders with containment and group dispersion behaviors. The effectiveness of the algorithm is then verified on a multi-robot control platform.

关键词： Heuristic algorithms Mobile robots Robot kinematics Trajectory Dispersion Decentralized control

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Hybrid causal methodology in quantitative risk assessment for the on-board ATP of high speed railway 10

Hybrid causal methodology in quantitative risk assessment fo...

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10th Symposium on Formal Methods for automation and Safety in Railway and Automotive systems, FORMS/FORMAT 2014

作者： Ren, Dewang Zheng, Wei National Engineering Research Center of Rail Transportation Operation and Control System Beijing Jiaotong University China Institute of Traffic Safety and Automation Engineering Technical University of Braunschweig Braunschweig Germany

ISBN: (纸本)9783981688665

This paper presents a quantitative risk assessment method based on the use of hybrid causal logic in the socio-technical system, the influence in the technological aspects is analyzed as well as in the operational aspects. Different modeling techniques and analyzing methods are applied in this paper aiming at different angles in the socio-technical system. Event tree and fault tree are used to identify the deterministic causal paths between components, the non-deterministic causal relationships (especially focusing on the impact of human factors and organization) are determined with BNs (Bayesian networks) combining evidence theory and ! method. This paper has two objectives: One is that the hybrid causal framework for high-speed railway on-board ATP (Automatic Train Protection) equipment is presented to assess risks quantitatively. The other is that the influence of non-deterministic factors (human factors and organization) in ATP equipment is analyzed combining with Bayesian network, ! method and evidence theory.

关键词： Bayesian networks

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Vision-Based Kinematic Calibration of Spherical Robots

Vision-Based Kinematic Calibration of Spherical Robots

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RSI/ISM International Conference on Robotics and Mechatronics

作者： Pedram Agand Hamid D. Taghirad Amir Molaee Advanced Robotics and Automation System (ARAS) Industrial Control Center of Excellence (ICEE) Department of Systems and Control Faculty of Electrical Engineering K. N. Toosi University of Technology Iran

ISBN: (纸本)9781467372350

In this article, a method to obtain spatial coordinate of spherical robot's moving platform using a single camera is proposed, and experimentally verified. The proposed method is an accurate, flexible and low-cost tool for the kinematic calibration of spherical-workspace mechanisms to achieve the desired accuracy in position. The sensitivity and efficiency of the provided method is thus evaluated. Furthermore, optimization of camera location is outlined subject to the prescribed cost functions. Finally, experimental analysis of the proposed calibration method on ARAS Eye surgery Robot (DIAMOND) is presented;In which the accuracy is obtained from three to six times better than the previous calibration.

关键词： Kinematic Calibration Vision-Base Positioning Eye Surgery Robot Spherical Workspace

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Consensus-Based Distributed Mean Square State Estimation

Consensus-Based Distributed Mean Square State Estimation

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American control Conference

作者： Carlos E. de Souza Michel Kinnaert Daniel Coutinho Department of Systems and Control Laboratorio Nacional de Computacao Cientifica - LNCC/MCTI Av. Getulio Vargas 333 Petropolis RJ 25651-075 Brazil Department of Control Engineering and System Analysis Universite Libre de Bruxelles (ULB) Brussels 1050 Belgium Department of Automation and Systems Universidade Federal de Santa Catarina PO Box 476 Florianopolis SC 88040-900 Brazil

ISBN: (纸本)9781479917730

This paper addresses the design of a distributed steady state filter for a sensor network. In the considered scenario, an estimate of the full system state is determined at each network node. The filter structure includes both measurement update terms from neighboring nodes, and a consensus term on the state estimates. The computation of the filter gains is recast as a convex optimization problem. Convergence of the estimation error variance is ensured at each network node and a guaranteed performance in the mean square sense is achieved. Extension of the method to linear parameter-varying systems yields a gain scheduled distributed filter.

关键词： network node mean square Filters linear parameter varying system Sensor networks Distribute State estimation Error measure measurement update

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Barrier Lyapunov based control of dual-arm exoskeleton robots performing asymmetric bimanual tasks

Barrier Lyapunov based control of dual-arm exoskeleton robot...

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2014 International Conference on Advanced Mechatronic systems, ICAMechS 2014

作者： Li, Zhijun Su, Hang Zhang, Hongbin Su, Chun-Yi Chai, Tianyou Yang, Chenguang Key Lab of Autonomous System and Network Control College of Automation Science and Engineering South China University of Technology Guangzhou China State Key Lab of Synthetical Automation for Process Industries Northeastern University Shengyang China

ISBN: (纸本)9781479963812

This paper presents Barrier Lyapunov Based control of a dual-arm exoskeleton system by using the relative Jacobian technique. Two upper exoskeletons operates in a constrained region of the operational space, whose end-effector motions are defined by the relative motion between the two end effectors. Barrier composite energy function (BCEF) scheme with a novel Barrier Lyapunov Function is developed to help exoskeleton tracking desired trajectories within the constrained range and provides a convenient way of dynamics cancellation with minimal knowledge of the dynamics parameters of the dual arm. Finally, the performance of the proposed adaptive control is illustrated through extensive experiments using the developed exoskeleton. © 2014 IEEE.

关键词： Lyapunov functions

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engineering-oriented simulation platform for laminar cooling process of hot rolled strips

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International Journal of Simulation and Process Modelling 2015年第4期10卷 327-333页

作者： Pian, Jinxiang Wang, Zhen Zhu, Yunlong Chai, Tianyou Li, Jiejia Faculty of Information and Control Engineering Shenyang Jianzhu University 9 Hunnan East Road Hunnan New District Shenyang Liaoning110168 China Key Laboratory of Networked Control System CAS Chinese Academy of Sciences No. 114 Nanta Street Shenhe District Shenyang Liaoning110016 China State Key Laboratory of Synthetical Automation for Process Industries Northeastern University No. 3-11 Wenhua Road Heping District Shenyang Liaoning110819 China

Because the new approach cannot be applied directly in the hot-rolled strip laminar cooling process, a simulation is necessary to verify the new approach effectively which can improve the strip quality and production yields. In order to make sure simulation platform is similar to the practical industrial process as much as possible, we proposed an engineering-oriented distributed simulation platform for laminar cooling process, integrating part of physical equipment (such as PLC). Additionally, there is physical signals exchange among the controller and virtual sensors in the platform. The simulation platform consists of four parts, including virtual object, virtual instruments and actuators, loop controller and process monitoring computer, and setting controller. The virtual object reflects the actual input and output characteristics of laminar cooling process. Virtual instruments and actuators can simulate the field instruments and actuators. Loop controller and process monitoring show the device operating conditions, the control performance, and give alarm signals in time. Setting controller performs setting control procedures. The experimental results indicate that simulation platform has powerful ability to evaluate the new approach in light of the engineering, which can reduce the live-fire testing cost and meet the requirements of repeated trials. Copyright © 2015 Inderscience Enterprises Ltd.

关键词： controllers

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Robust remote tracking control with partly quantized information and packed-dropout 33

Robust remote tracking control with partly quantized informa...

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第三十三届中国控制会议

作者： GE Yang WANG Jingcheng LI Kang Department of Automation Shanghai Jiao Tong University and Key Laboratory of System Control and Information Processing Ministry of Education of China School of Electronics Electrical Engineering and Computer ScienceQueen’s University Belfast

ISBN: (纸本)9781479947249

This paper mainly discusses the remote tracking problem with partly quantized information and packet-dropout. Since the network exists between the remote plant and the local plant, any information transmitted between each other will experience the quantization errors and may be lost. In this situation, the controller of the local system needs to consider both the exact local information and the inaccurate remote information. A state feedback controller is adopted and the theorems to design such controller are given in terms of bilinear matrix inequalities(BMIs). Moreover, an algorithm is proposed and these BMIs are converted into a convex optimization problem. Finally, the efficiency of the proposed method is demonstrated by a simulation example.

关键词： Networked control systems,robust control,quantized,remote tracking,packet-dropout

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A Novel Online Model for Furnace Exit Gas Temperature of Coal-fired Boiler 33

A Novel Online Model for Furnace Exit Gas Temperature of Coa...

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第三十三届中国控制会议

作者： Liu Zhengfeng Wang Jingcheng Shi Yuanhao Zhang Langwen Li Kang Department of Automation Shanghai Jiao Tong University and Key Laboratory of System Control and Information ProcessingMinistry of Education of China School of Electronics Electrical Engineering and Computer Science Queen's University Belfast

ISBN: (纸本)9781479947249

Furnace exit gas temperature(FEGT) is the key parameter in the furnace ash fouling monitoring system. Since the standard least squares support vector machine(LSSVM) is not suitable for online identification and control of FEGT,a novel CM-LSSVM-PLS method is proposed to predict FEGT in this paper. In the process of CM-LSSVM-PLS method, c-means cluster(CM) algorithm is used to partition the training data into several different subsets by considering the characteristics of operational data. Submodels are subsequently developed in the individual subsets based on LSSVM method. Partial least squares algorithm(PLS) is employed as the combination strategy. The online updating algorithm is then applied to the CM-LSSVM-PLS model. The proposed online model is verified through operation data of a 300 MW generating unit. The simulation results show that the proposed online updating model is effective for online FEGT forecasting.

关键词： Coal-fired boiler Furnace exit gas temperature C-means cluster Least squares support vector machine Partial least squares Online updating

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