Mapping is the off-line allocation of the tasks that represent a parallelised algorithm across a multiprocessor architecture. In this paper the target architecture is heterogeneous, where a number of computationaly di...
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Mapping is the off-line allocation of the tasks that represent a parallelised algorithm across a multiprocessor architecture. In this paper the target architecture is heterogeneous, where a number of computationaly disparate processors are integrated within a single network. This paper describes three mapping approaches that attempt to minimise the cycle time of several parallelised algorithms. The mapping algorithms have been embedded into a suite of design tools that allow a rapid translation from an application algorithm to a parallel implementation. These tools are used to explore the efficacy of the mapping algorithms. A simple heuristic is appraised first, followed by an examination of a genetic algorithm (GA) approach. Initially, the GA utilises a simple parallel architecture model. However, this leads to the embedding of the target hardware within the objective function to improve performance. Finally, the effectiveness of these approaches are examined and contrasted.
In this paper a soaking pit/rolling mill process model is developed based on extended coloured petri nets (ECPNs). Both the discrete events and the continuous dynamics involved in the process are modelled in a unified...
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In this paper a soaking pit/rolling mill process model is developed based on extended coloured petri nets (ECPNs). Both the discrete events and the continuous dynamics involved in the process are modelled in a unified framework, allowing better investigation of the interactions between these two parts. Corresponding ECPN diagrams are given for the critical components involved in the soaking pit/rolling mill process, including the arrival of hot ingots, the charging and discharging of soaking pits, the soaking process, the preheat furnace operation, the mill operation, etc. The ECPN diagrams are implemented in the Design/CPN environment on a Sun SPARC workstation. Computer simulations are carried out and typical results are shown, which could lead to the improvement of soaking pit/rolling mill operations
This paper describes a new control system for the PUMA 560 industrial robotic manipulator based on transputer networks, where both the hardware and software designs are detailed. A Transputer Interface Board (ТIB) es...
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This paper describes a new control system for the PUMA 560 industrial robotic manipulator based on transputer networks, where both the hardware and software designs are detailed. A Transputer Interface Board (ТIB) establishing a transputer link to the 6503 microprocessors of the PUMA arm joints has been designed, built and tested. In addition to hardware implementation, software testing for this new system has been successfully accomplished. A great deal of flexibility can be achieved with this new system, yet without many difficulties, where it can be used as a platform to implement advanced control algorithms and develop sensor-based intelligent robotic structures which need much more computational power. Genetic Algorithms are used to plan the PUMA robot motion trajectory based on the new PUMA control platform, and the motion planner runs concurrently with the controller. Real-time experiments show that PUMA moves much more smoothly along the optimum planned trajectory.
The principal aim of this paper is to present a new algorithm for the control of continuous time linear systems with a large relative degree and unknown parameters. If the standard approach is used for these systems, ...
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The principal aim of this paper is to present a new algorithm for the control of continuous time linear systems with a large relative degree and unknown parameters. If the standard approach is used for these systems, the controller structure is very complicated and implementation is problematic. A comparative study of two classes of model reference adaptive control methods is also presented. Finally, simulation results are also presented to illustrate the effectiveness of the proposed method.
This paper develops a robust identification algorithm for nonlinear systems. Multi-objective criteria are defined that takes into account the diverse distributions of the unknown disturbance and noise terms. The L 2 ,...
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This paper develops a robust identification algorithm for nonlinear systems. Multi-objective criteria are defined that takes into account the diverse distributions of the unknown disturbance and noise terms. The L 2 , L ∞ -norms and a model complexity measure are the three chosen in the development of the algorithm. The algorithm combines the method of inequalities and genetic algorithms with that of least squares in optimising the multi-objective criteria. Model selection is also introduced as part of a single identification algorithm, where genetic search is carried out over models with all possible combinations from a given set of basis functions.
The Dynamical Hierarchical Optimization implements either Interaction Balance Method or Interaction Prediction Method for the coordination of local decision units; both methods are initial condition dependent and requ...
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The Dynamical Hierarchical Optimization implements either Interaction Balance Method or Interaction Prediction Method for the coordination of local decision units; both methods are initial condition dependent and require that the interconnection error reaches zero before implementing the solution to the real system which is numerically difficult; by adding a repetitive loop with a chosen control horizon the solution can be significantly improved
A virtual environment was created which mimicked the real-world operation of the LongArm robotic system. In addition to considering an exact model of the physical system, online two-way data exchange between the actua...
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A virtual environment was created which mimicked the real-world operation of the LongArm robotic system. In addition to considering an exact model of the physical system, online two-way data exchange between the actual robot and its virtual counterpart makes actual real-time interaction possible. The designed interface allows the operator to experiment in the virtual mode with any commands later executed on the real system. There is an option to view a second set of graphics showing the kinematic relationships between the joints of the robot. This prototype is intended as an initial investigation into the design of virtual environments for the real-time control of dynamic systems.
The Development Framework provides a highly automatic translation from a specification to an implementation. The specification is in a popular, graphical controlengineering notation typically representing a system wi...
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The Development Framework provides a highly automatic translation from a specification to an implementation. The specification is in a popular, graphical controlengineering notation typically representing a system with stringent reliability requirements and hard real time constraints. An interface has been constructed between the Development Framework and the commercially available dependability modelling tool, SURF-2. This tool is designed to support an evaluation based design approach. Multiple design solutions can be compared to assess the implications of design decisions on the dependability of the system under development. The software demonstration will show how the interface between the Development Framework and SURF-2 is used to model the inclusion of selected fault tolerant mechanisms in the system under development.< >
In various adaptive estimation applications, the unknown channel is characterized by an impulse response which consists of extended regions of negligible response or 'inactivity'. We consider the LMS estimatio...
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In various adaptive estimation applications, the unknown channel is characterized by an impulse response which consists of extended regions of negligible response or 'inactivity'. We consider the LMS estimation of a channel that may be well approximated by an FIR (filter) model with only a few nonzero tap coefficients within a given delay horizon or tap length n. When the number of nonzero tap coefficients m is small compared to the delay horizon n, the performance of the LMS estimator is greatly enhanced when this specific structure is exploited. We propose a consistent algorithm that performs identification of nonzero taps only.
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