This work proposes using a neural network with self organizing maps, to build a configuration policy, which enables the management of a supporting infrastructure for Web applications using virtual machines. The neural...
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This work proposes using a neural network with self organizing maps, to build a configuration policy, which enables the management of a supporting infrastructure for Web applications using virtual machines. The neural network classifies the cluster's operation states to perform configuration operations adding or subtracting resources from the cluster. The overall goal is to ensure quality of service required by the application, while trying to save energy, acting efficiently on physical servers (hosts) or manipulating the VMs. The work includes a performance evaluation carried out over a system implemented based on the proposed architecture.
The MoProSoft Integral Tool, or HIM for its name in Spanish, is a Web-designed system to support monitoring the MoProSoft, a software process model defined as part of a strategy to encourage the software industry in M...
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The MoProSoft Integral Tool, or HIM for its name in Spanish, is a Web-designed system to support monitoring the MoProSoft, a software process model defined as part of a strategy to encourage the software industry in M...
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The MoProSoft Integral Tool, or HIM for its name in Spanish, is a Web-designed system to support monitoring the MoProSoft, a software process model defined as part of a strategy to encourage the software industry in Mexico. The HIM-assistant, is a system added to the HIM, which main objectives are to give a guide for the automated use of the MoProSoft and improve the aid provided to the HIM users. To reach these objectives, elements from software engineering along with two areas of artificial intelligence, multi- agent systems and case based reasoning, were applied to develop the HIM-assistant. The task involved the HIM-assistant analysis and design phases using the MESSAGE methodology, as well as the development of the system and the performance of tests. The major importance of the work lies on the integration of different areas to fulfill the objectives, using existing progress instead of developing a totally new solution.
The concept and theoretical derivation of a new, continuous controller for contact transition tasks was presented earlier by Sarkar et al. (1996). The design of this new controller was derived based on an analysis of ...
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The concept and theoretical derivation of a new, continuous controller for contact transition tasks was presented earlier by Sarkar et al. (1996). The design of this new controller was derived based on an analysis of impulsive constraints. Unlike other control methods that require switching control strategies before and after contacts, this design is able to accomplish contact transition tasks with a single control strategy, avoiding control discontinuities. In this paper, the proposed controller design is further developed, and results from computer simulation and physical experiments are presented to demonstrate the feasibility and effectiveness of the controller design.
Many manipulation tasks involve transition from unconstrained to constrained motion marked by the contact with a constrained surface. This phenomenon divides the task into more than one control strategies plagued with...
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Many manipulation tasks involve transition from unconstrained to constrained motion marked by the contact with a constrained surface. This phenomenon divides the task into more than one control strategies plagued with control discontinuity. This paper seeks to design a controller which avoids such discontinuity. The principle is based on the analysis of impulsive constraints. It is shown that, in theory, such discontinuity can be avoided by replacing the force discontinuity of the end-effector by velocity discontinuity of the constraint surface. This velocity discontinuity can then be dealt with using a continuous control strategy. A controller has been designed based on this principle. Input-output linearization has been performed to linearize and decouple the system.
The kinematic modeling and feedback control of a mobile robot/vehicle with two independently steerable wheels is studied. Two-wheel steer vehicles are highly maneuverable in confined space and their orientation can be...
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The kinematic modeling and feedback control of a mobile robot/vehicle with two independently steerable wheels is studied. Two-wheel steer vehicles are highly maneuverable in confined space and their orientation can be made independent of the position trajectory. However, the control of such vehicle is less intuitive and difficult. A dynamic feedback control algorithm is developed, which enables the vehicle to move from any initial configuration (position and orientation) to any final configuration. It is also shown that the same cannot be achieved by any static feedback controller. Simulation results are presented to verify the independent control of the two position variables and the orientation variable.
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