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Open architecture for robot controllers

Open architecture for robot controllers

引用

IEEE International Workshop on Robotics in Alpe-Adria-Danube Region (RAAD)

作者： Th. Borangiu F.D. Anton S. Anton Faculty of Automatic Control and Computer Science University Politehnica of Bucharest Bucharest Romania

The paper discusses a generic, open architecture for industrial or non-industrial robot controllers allowing system designers and robot manufacturers to develop rapid deployment automation solutions for particular mechanics of robot manipulators. The paper describes a multiple-axis open controller design for a mobile AGV platform carrying a robotic arm, with inclination control to provide horizontal alignment in any terrain configuration. The navigation and locating of the mobile robot platform, the motion control of the robotic arm, as well as monitoring, learning, program editing, debugging and execution are embedded in a multiprocessor system developed around a Motion control solution for which a structured programming language was developed. A strongly coupled multi-processor architecture embedding model learning, control and man-machine GUI functionalities is described both as hardware implementing and basic software system design (RTOS, multitasking and operating modes). Experimental results are reported for the motion control of the 5-d.o.f. robot arm.

关键词： Robot control Robotics and automation Service robots automatic control Mobile robots Motion control Manufacturing automation Electrical equipment industry Industrial control Manufacturing industries

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A framework for Volunteer Grid computing management

A framework for Volunteer Grid computing management

引用

Roedunet International Conference (RoEduNet)

作者： Dorin Carstoiu Alexandra Cernian Faculty of Automatic Control and Computer Science Politehnica University of Bucharest Bucharest Romania

ISBN: (纸本)9781424473359

This paper tries to define mechanisms which insure the right functionality for systems based on the Volunteer Grid concept and propose a new framework for Volunteer Grid computing management. Volunteer Grid systems allow setting up high performance computer networks, easily, rapidly and at low costs, the main characteristic of their nodes being the volunteer participation. Thus, a supercomputer is created, able to perform most complex calculations in a relatively short period of time. This volunteering itself is a weakness of the system, because not only physical faults must be taken into consideration, but also sabotages through which participants could try to increase their rating.

关键词： Grid computing Parallel processing Parallel programming Distributed computing Concurrent computing Application software computer networks Parallel algorithms Algorithm design and analysis computer architecture

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Software/hardware partitioner

Software/hardware partitioner

引用

Roedunet International Conference (RoEduNet)

作者： Silviu Horia Baranga Adriana Szekeres Faculty of Automatic Control and Computer Science University Politehnica of Bucharest Bucharest Romania

ISBN: (纸本)9781424473359

The current trend in processor's design is to add multiple cores to increase the system's overall performance but this is not a solution to increasing the performance of serial applications. Due to its potential to greatly accelerate a wide variety of serial applications, reconfigurable computing has become a subject of a great deal of research. Its key feature is the ability to perform computations in hardware in order to increase performance, while retaining much of the flexibility of a software solution. In this paper, we address the problem of fully automating the process of selecting the code to be used for hardware acceleration. We present a software-hardware partitioning system that transforms Impulse C source code into blocks of C and VHDL code. The resulting C code will be run on the CPU, while the VHDL code will be implemented on a reconfigurable hardware, e.g. a FPGA.

关键词： Hardware Field programmable gate arrays Application software Application specific integrated circuits Microprocessors Acceleration Genetic algorithms Software performance Logic devices Reconfigurable logic

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Sensorless direct torque control of five-phase induction motor drives

Sensorless direct torque control of five-phase induction mot...

引用

Annual Conference of Industrial electronics Society

作者： B. S. Khaldi H. Abu-Rub A. Iqbal R. Kennel M. O. Mahmoudi D. Boukhetala Department of Electrical Engineering Faculty of Science and Engineering Djelfa University Algeria Laboratory of Process Control National Polytechnic School Algiers Algeria Institute for Electrical Drive Systems and Power Electronics Technische Universität München Munich Germany Department of Electrical & Computer Engineering Texas A&M University at Qatar Doha Qatar Department of Electrical Engineering College of Engineering Qatar University Qatar Department of Electrical Engineering Aligarh Muslim University Aligarh India

This paper presents a simple and novel sensorless scheme for five-phase induction motor control. The power measurement is used for speed computation. The drive is controlled using direct torque control (DTC). Speed sensorless control scheme is tested under speed variation and load changes. The control method is simulated and implemented in real time on the DS1103 board.

关键词： Vectors Stators Torque Rotors Induction motors Torque control Electromagnetics

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A Fault-tolerant Approach to Storing Objects in Distributed Systems

A Fault-tolerant Approach to Storing Objects in Distributed ...

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International Conference on P2P, Parallel, Grid, Cloud and Internet Computing (3PGCIC)

作者： Ciprian Dobre Florin Pop Valentin Cristea Computer Science Department Faculty of Automatic Control and Computes Science University Politehnica of Bucharest Romania

Over the Internet today, computing and communications environments are more complex and chaotic than classical distributed systems, lacking any centralized organization or hierarchical control. Peer-to-Peer network overlays provide a good substrate for creating large-scale data sharing, content distribution and application-level multicast applications. We present DistHash, a P2P overlay network designed to share large sets of replicated distributed objects in the context of large-scale highly dynamic infrastructures. The system uses original solutions to achieve optimal message routing in hop-count and throughput, provide an adequate consistency among replicas, as well as provide a fault-tolerant substrate. In this we present result proving that the system is able to scale to a large number of nodes, and it includes the fault tolerance and system orchestration mechanisms, added in order to assess the reliability and availability of the distributed system in an autonomic manner.

关键词： Peer to peer computing Fault tolerance Fault tolerant systems Search problems Routing Object recognition Internet

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SORMSYS: Towards a Resource Management Platform for Self-Organizing Large Scale Distributed Systems

SORMSYS: Towards a Resource Management Platform for Self-Org...

引用

International Symposium on Symbolic and Numeric Algorithms for Scientific Computing (SYNASC)

作者： Florin Pop Computer Science Department Faculty of Automatic Control and Computers University POLITEHNICA of Bucharest Romania

The SORMSYS project's main goal is to optimize resource management in large scale distributed systems with the capability of self-organization. This paper will present the design of management architecture based on existing middleware solutions through the design of algorithms and methods inspired by natural models. The architecture is full decentralized and it will aim to optimize resource management in different types of distributed systems such as Grid, P2P, and Cloud. The important components considered for the architecture are: allocation of resources, task scheduling, resource discovery, monitoring resources and provide fault tolerance. The SORMSYS project aims to highlights the original obtained results in internationally scientific community. The paper also presents the expecting results and discusses the performance evaluation of proposed architecture.

关键词： Resource management Scheduling computer architecture Cloud computing Software Peer to peer computing Computational modeling

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An adaptive scheduling approach in distributed systems

An adaptive scheduling approach in distributed systems

引用

IEEE International Conference on Intelligent computer Communication and Processing (ICCP)

作者： Alexandra Olteanu Florin Pop Ciprian Dobre Valentin Cristea Faculty of Automatic Control and Computers Computer Science Department University Politehnica of Bucharest Romania

A large number of scheduling algorithms for large scale distributed systems have been proposed, studied and compared. In spite of this, there are few studies comparing the performance of scheduling algorithms considering at the same time the distributed system structure on which we want to schedule the tasks; the type of directed acyclic graph (DAG), in which graph nodes represent tasks and graph edges represent data transfers; and the type of tasks, for example CPU-bound vs. I/O bound. This paper proposes a method for selecting, in a dynamic manner, the most appropriate scheduling algorithm for a particular distributed system, after a previous analysis. Choosing the best known scheduling algorithm can improve performance of an application if all the aspects previously enumerated are considered. The results of this paper consist in a comparison of the scheduling algorithms performance for the following scheduling algorithms: Modified Critical Path, Cluster ready Children First, Earliest Time First, Highest Level First with Estimated Times and Hybrid Remapper Minimum Partial Completion Time Static Priority. However, the main purpose of this investigation tests is to demonstrate the usefulness of the presented scheduling approach using these results.

关键词： Scheduling algorithm Heuristic algorithms Dynamic scheduling Adaptive scheduling Analytical models

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A Distributed Approach to Business Intelligence Systems Synchronization

A Distributed Approach to Business Intelligence Systems Sync...

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International Symposium on Symbolic and Numeric Algorithms for Scientific Computing (SYNASC)

作者： Vlad Ciobanu Florin Pop Decebal Popescu Valentin Cristea Computer Science Department Faculty of Automatic Control and Computers University POLITEHNICA of Bucharest Romania

This paper presents a distributed solution of the synchronization of Business Intelligence (BI) Systems via networking services. The main problem addressed by the proposed project is to create a common solution that allows automatically redeploying of business intelligence applications among different servers located in the Internet. A case study by using the Microsoft BizTalk Server as a Business Intelligence system is presented included in a research project called PrO Processor. The research came as a necessity because of the lack of support for remote deployment of applications via Internet. Our solution overcomes this issue and presents the synchronization architecture capable of transporting, installing and starting BI applications, orchestrations and ports to any number of BI servers in the Internet.

关键词： Bismuth Servers Synchronization Artificial intelligence Companies Databases

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Generic Representation for Extension-Based Semantics of Argumentation Frameworks

Generic Representation for Extension-Based Semantics of Argu...

引用

International Symposium on Symbolic and Numeric Algorithms for Scientific Computing (SYNASC)

作者： Cristian Gratie Adina Magda Florea Computer Science Department Faculty of Automatic Control and Computers University Politehnica of Bucharest Romania

Argumentation is one of the most active domains in Artificial Intelligence, especially in multi-agent systems. Since the initial work of Dung on abstract argumentation frameworks, many semantics have been proposed, but for most practical cases argument acceptability is still a matter of choice. This paper introduces a formal model that aims to provide a unifying representation of argument extensions and thus offer a means for analyzing the relations between existing semantics. First, the generic model is described, then it is used for describing the most common argumentation semantics. Conclusions are drawn from the representation.

关键词： Semantics Biological system modeling Context Knowledge based systems Analytical models Solid modeling

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Scaling Peer-to-Peer testing using Linux Containers

Scaling Peer-to-Peer testing using Linux Containers

引用

Roedunet International Conference (RoEduNet)

作者： Mircea Bardac Răzvan Deaconescu Adina Magda Florea Automatic Control and Computers Faculty Computer Science Department Politehnica University of Bucharest Bucharest Romania

ISBN: (纸本)9781424473359

This paper presents an experimental study on the scalability of Linux Containers as a virtualization platform for evaluating Peer-to-Peer systems with real client implementations. This research identifies key features which make Linux Containers a viable solution for large-scale Peer-to-Peer virtualized infrastructures. Host resource utilization and swarm performance are evaluated for different swarm sizes, finding correlations between the virtualization solution settings and the impact on various host and peer parameters. The limits of Linux Containers are explored through experimental research, identifying directions for improving Peer-to-Peer testing in virtualized environments.

关键词： Peer to peer computing Linux Containers Protocols Hardware Internet System testing Scalability Large-scale systems Bandwidth

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