The aim of this paper is to describe a research roadmap for a multi-domain model-driven embedded systems design approach and the corresponding meta-model which is applicable to the domain of complex Industrial Automat...
详细信息
ISBN:
(纸本)9781424437597
The aim of this paper is to describe a research roadmap for a multi-domain model-driven embedded systems design approach and the corresponding meta-model which is applicable to the domain of complex Industrial Automation and control Systems (IACS). The special requirements of the industrial automation sector are taken into account by this novel approach, utilizing existing model-driven techniques. This approach is currently being developed in the Framework Seven (FP7) Embedded Systems Design project MEDEIA funded by the European Commission.
The problems of scheduling of tasks described with dynamic models appear in the real-world situations, where management of the processes described with differential equations is needed. Possible applications contains ...
详细信息
ISBN:
(纸本)9783902661555
The problems of scheduling of tasks described with dynamic models appear in the real-world situations, where management of the processes described with differential equations is needed. Possible applications contains e.g: refuelling of the fleet of the boats in the given critical time, scheduling of tasks in the multiple computer systems and the forging process in the steel plants. The solution for such problems consists of two parts: continuous one (the allocation of the continuously divisible resource) and the discrete one (sequence of task subsets). The research has been done mostly for the former part so far, where the latter one was neglected. In the paper we recollect properties of the discrete part of the solution space and we prove some new properties. These new properties can be used to construct more efficient algorithms for the scheduling problems with the dynamic models of tasks.
Methods of designing of totally self checking sequential machines are presented in this paper. The main problem in TSC sequential machines (TSC SM) designing is synthesis TSC functional excitation circuit. Formal cond...
详细信息
Methods of designing of totally self checking sequential machines are presented in this paper. The main problem in TSC sequential machines (TSC SM) designing is synthesis TSC functional excitation circuit. Formal condition of self testing (ST) property for AND-OR structures are given. New method of circuit minimization is presented and ST of minimized circuits is proofed. We also present a methodology of designing of TSC SM. Owing to our methods we can design TSC circuits in a fully automatic way.
Due to the continuous growth of Internet users, computer systems become more powerful to follow still rising needs. Modern structures so-called information systems encompass not only more reliable hardware, but first ...
详细信息
Due to the continuous growth of Internet users, computer systems become more powerful to follow still rising needs. Modern structures so-called information systems encompass not only more reliable hardware, but first of all multifunctional and thus highly compound software. On one hand, this gives great opportunity to realize very complex tasks through a network, even such as commercial business services. On the other hand, this introduces many issues with dependability of such systems that management and control of these infrastructures becomes extremely hard. Adapting well studied knowledge on systems dependability to the new circumstances, we emphasize role of performance as one of dependability properties. Our response for requirements of efficient means for optimization and forecasting of information systems is to revitalize queuing models concept and combine them with computer simulation techniques in order to obtain scalable, fast and detailed enough analysis methodology.
The paper deals with cyclic production system providing a mixture of various products, each of which is manufactured by unique sequence of operations on machines called job. The aim is to find the cyclic schedule of m...
详细信息
The paper deals with cyclic production system providing a mixture of various products, each of which is manufactured by unique sequence of operations on machines called job. The aim is to find the cyclic schedule of minimal cycle length under “no store” policy. The problem belongs to scheduling area, is called the job shop scheduling problem with no-store constraints, is strongly NP-hard, and has been considered very rarely in the literature. In this paper there are shown: mathematical model of the problem, some of its theoretical properties, two-level solution method with special algorithm based on paths in a graph on the lower level and TSAB-relative procedure on the upper level.
This paper deals with the problem of defining performance measures of doubly nonholonomic mobile manipulators composed of a nonholonomic mobile platform and a nonholonomic manipulator mounted on the platform. We intro...
详细信息
ISBN:
(纸本)9783902661555
This paper deals with the problem of defining performance measures of doubly nonholonomic mobile manipulators composed of a nonholonomic mobile platform and a nonholonomic manipulator mounted on the platform. We introduce the kinematic theory of such mobile manipulators in frame of the endogenous configuration space approach, which assumes that: the kinematics of mobile manipulators is represented by a pair of driftless control systems driven by platform and manipulator controls, and sharing output function that describes position and orientation of the end-effector;the kinematic performance measures refer to the analytic Jacobian of the system;a locally controllable system yields nontrivial performance measures. Our results consist in a definition of the following local performance characteristics: the dexterity ellipsoid, the local dexterity, the energy efficiency and the motion efficiency. The usefulness of new local measures is demonstrated on the example of determining efficient configurations of a 3 d.o.f. planar nonholonomic manipulator fixed to a kinematic car type platform.
Abstract A major objective of FP7 LIREC project (Living with Robots and Interactive Companions) lies in designing a robotic companion that humans would accept and co-exist with over a longer period of time. A tentativ...
Abstract A major objective of FP7 LIREC project (Living with Robots and Interactive Companions) lies in designing a robotic companion that humans would accept and co-exist with over a longer period of time. A tentative construction of such a companion has been a robot mounted on board of a balancing mobile platform. In this paper we describe a prototype design of the balancing robot, derive a mathematical model of its kinematics and dynamics, and develop a robot controller. The controller synthesis is based on feedback decoupling and linearization of the robot dynamics. Performance of the controller has been tested by computer simulations of example problems of position and orientation tracking.
Abstract From a general form of the Jacobian right inverse for nonholonomic mobile robots we derive a specific Jacobian inverse kinematics algorithm. By design, this algorithm does not involve the mobility matrix, wha...
详细信息
Abstract From a general form of the Jacobian right inverse for nonholonomic mobile robots we derive a specific Jacobian inverse kinematics algorithm. By design, this algorithm does not involve the mobility matrix, what makes it computationally less demanding than the most often used Jacobian pseudoinverse algorithm. The algorithm has been applied to the unicycle-type mobile robot. It has been shown that the algorithm performs efficiently unless the unicycle moves along a straight line trajectory. Performance of the new algorithm has been illustrated by computer simulations of the unicycle whose controls are synthesized in accordance with either the finite element or the finite difference method.
Abstract In some models of tasks used in the scheduling theory an additional continuously divisible resource is needed to process the task. One of such models, the dynamic one, is considered in the paper. Such model o...
详细信息
Abstract In some models of tasks used in the scheduling theory an additional continuously divisible resource is needed to process the task. One of such models, the dynamic one, is considered in the paper. Such model often appears in the real-life situations. Up to date, it was successfully used in many different fields, e.g. scheduling of tasks in the multiple computer systems, the forging process in the steel plants and refuelling of the fleet of boats in a given critical time. In most applications this model is also concave. For such case two phases are distinguished in the methodology of the solution construction. In the fist phase tasks are distributed among the processors and in the second one the resource is (optimally) allotted to the tasks. The second phase is computationally very expensive. Moreover, the methods of the optimal resource allocation proposed so far, although theoretically impeccable, are difficult and in some cases even impossible to apply. Thus in the paper, based on a recent theoretical results we propose a new method of the resource allocation: efficient and easily applicable. This method is compared in the computational experiment to other methods.
暂无评论