In this paper, we propose a mapping and navigation method for mobile robots with low computational resources and limited memory capacity. The proposed navigation method is based on topological mapping of visual featur...
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This paper is concerned with the design of networked control systems with random network-induced delay and data dropout. It presents a new control scheme, which is termed networked predictive control with optimal esti...
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The main goal of this paper is to investigate the energy-to-peak filtering problem for a class of network-based discrete-time *** network-induced delays are modeled as a Markov chain with partly unknown transition ***...
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The main goal of this paper is to investigate the energy-to-peak filtering problem for a class of network-based discrete-time *** network-induced delays are modeled as a Markov chain with partly unknown transition *** this assumption,the filter is more general in comparison with the existing methods that take the transition probabilities completely known or completely unknown.A mode-dependent full-order filter is constructed by taking the unknown probabilities into a convex *** using a new bounded real lemma,sufficient LMI conditions are derived to ensure the corresponding filtering errors system is stochastically stable with a guaranteed l2-l∞ performance index.A numerical example is presented to illustrate the effectiveness of the proposed approach.
Run-time platform variability presents a number of challenges to the system software in order that a run-time environment is presented to applications that sufficiently masks dynamic platform variability (including fa...
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Run-time platform variability presents a number of challenges to the system software in order that a run-time environment is presented to applications that sufficiently masks dynamic platform variability (including fabrication variability), whilst allowing applications to tune overall system performance to exploit key aspects of dynamic energy usage and platform variability. The approach taken within the Touchmore project is to model key aspects of the platform in order that performance and variability can be understood and exploited by the system software. In turn, the system software (comprising OS and run-time) utilises the model so that aspects of variability and energy usage are abstracted from the platform, then monitored and controlled in order to meet policy goals, eg. energy minimisation. This paper documents aspects of the modeling and system software structure to show how the Touchmore project is managing energy and platform variability using customisation of the application, system software and toolchain.
Load balancing is essential for efficient utilization of resources and enhancing the responsiveness of a computational grid, especially that hosts of services most frequently used, i.e. food, health and nutrition. Var...
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Load balancing is essential for efficient utilization of resources and enhancing the responsiveness of a computational grid, especially that hosts of services most frequently used, i.e. food, health and nutrition. Various techniques have been developed and applied;each has its own limitations due to the dynamic nature of the grid. Efficient load balancing can be achieved by an effective measure of the node's/cluster's utilization. In this paper, as a part of an NSTIP project # 10-INF1381-04 and in order to assess of FAQIH framework ability to support the load balance in a computational grid that hosts of food, health and nutrition inquire services. We detail the design and implementation of a proposed fuzzy-logic-based scheme for dynamic load balancing in grid computing services. The proposed scheme works by using a fuzzy logic inference system which uses some metrics to capture the variability of loads and specifies the state of each node per a cluster. Then, based on the overall nodes' states, the state of the corresponding cluster will be defined in order to assign the newly arrived inquires such that load balancing among different clusters and nodes is accomplished. Many experiments are conducted to investigate the effectiveness of the proposed fuzzy-logic-based scheme to support the load balance where the results show that the proposed scheme achieves really satisfactory and consistently load balance than of other randomize approaches in grid computing services.
Background: The main claimed advantage of model driven engineering is the improvement of productivity. However, little information is available about its actual usage during software development and maintenance in the...
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ISBN:
(纸本)9781622762538
Background: The main claimed advantage of model driven engineering is the improvement of productivity. However, little information is available about its actual usage during software development and maintenance in the industry. Objective: The main aim of this work is investigating the level of maturity in the usage of software models and model driven engineering in the Italian industry. The perspective is that of software engineering researchers. Method: First, we conducted an exploratory personal opinion survey with 155 Italian software professionals. The data were collected with the help of a web-based on-line questionnaire. Then, we conducted focused interviews with three software professionals to interpret doubtful results. Results: Software modelling is a very relevant phenomenon in the Italian industry. Model driven techniques are used in the industry, even if (i) only for a limited extent, (ii) despite a quite generalized dissatisfaction about available tools and (iii) despite a generally low experience of the IT personnel in such techniques. Limitations: Generalization of results is limited due to the sample size. Moreover, possible self-exclusion from participants not interested in modelling could have biased the results. Conclusion: Results reinforce existing evidence regarding the usage of software modelling and (partially of) model driven engineering in the industry but highlight several aspects of immaturity of the Italian industry.
This paper aims to present the design of a cloud computing-based equipment monitoring system (EMS), called CCEMS, for the CNC machine tool industry to illustrate the paradigm shift of EMSs from basing on the Internet ...
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In this paper, We analysis on the Model-Based Networked control System where the plant is continuous and the states are available (full state feedback). we consider the problem of having a sensor that is connected to ...
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In this paper, We analysis on the Model-Based Networked control System where the plant is continuous and the states are available (full state feedback). we consider the problem of having a sensor that is connected to the actuator/controller by a network. Two types of stochastic stability are discussed, namely Almost Sure or Probability-1 Asymptotic Stability and Mean Square or Quadratic Asymptotic Stability. The stochastic stability of NCS is analyzed and proved.
The supervisory controllers used in manufacturing processes to establish nominal sequences of production steps can theoretically be synthesized based on the supervisory control theory (SCT). The fact, that in practice...
The supervisory controllers used in manufacturing processes to establish nominal sequences of production steps can theoretically be synthesized based on the supervisory control theory (SCT). The fact, that in practice manual design procedures are preferred over the SCT, is (among other reasons) due to the fact that the models used in the SCT are of an abstract type rather than reflecting the signal flow within a discretely controlled process, and that sets of permissible behaviors are obtained rather than selected (optimal) behaviors within this set. This paper proposes a modeling and synthesis scheme for discrete control which aims at retaining the closed loop structure of the controlled process. An algebraic representation of the discrete event dynamics is chosen to enable the transfer of concepts from continuous control to the supervisory control task. In addition, the scheme considers that the plant to be controlled often comprises continuous quantities (from which events need to be extracted), and that larger manufacturing processes typically have a modular and hierarchical structure.
This study is concerned with the class of convex network optimisation problems forming the Network Utility Maximisation (NUM) framework. Dual decomposition is commonly used to decompose the NUM problem into smaller pr...
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This study is concerned with the class of convex network optimisation problems forming the Network Utility Maximisation (NUM) framework. Dual decomposition is commonly used to decompose the NUM problem into smaller problems that can be solved locally by the nodes. The typical dual descent techniques suffer however from slow convergence and require the distributed computations to be synchronised. Yet global node synchronisation is a difficult task in self-organised ad-hoc networks, where preference is given to asynchronous protocols. The algorithm proposed in this study proceeds sequentially and asynchronously for each node to local projected gradient descents, combined with local step-size selection routines of the type Armijo. Global convergence is ensured provided that the gradient of the dual function is Lipschitz continuous. Scaling the gradient to the local Newton directions accelerates the process and guarantees linear convergence. The proposed algorithm is tested on the problem of maximum-lifetime routing of a wireless sensor network.
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