The authors present an investigation into the utilisation of parallel computing techinques for real-time simulation and control of a flexible beam structure in transverse vibration. The performance demands of modern c...
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The authors present an investigation into the utilisation of parallel computing techinques for real-time simulation and control of a flexible beam structure in transverse vibration. The performance demands of modern controlsystems require the employment of complex algorithms with demanding operations which, in turn, leads to shorter sampling times. Therefore, real-time performance in control applications where the use of advanced control methods is warranted becomes difficult to accomplish. Many demanding complex control processes cannot be satisfactorily realised with conventional uni-processor and multi-processor systems. Previous investigations have demonstrated the limitations of employing only transputers for real-time implementations in control applications. Alternative strategies where multi-processor based systems are employed, utilising digital signal processing (DSP) and parallel processing techniques, could provide suitable methodologies.< >
This article is concerned with efficient and fast computations of adaptive control algorithms for robot manipulators. Adaptive controllers employing the highly coupled and nonlinear dynamics of manipulators are comput...
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This article is concerned with efficient and fast computations of adaptive control algorithms for robot manipulators. Adaptive controllers employing the highly coupled and nonlinear dynamics of manipulators are computationally complex, which presents a major obstacle in their real-time implementation for industrial applications. A solution to this problem is suggested by utilising a parallel processing approach. The controller algorithm is implemented for a PUMA 560 robot manipulator with six degrees of freedom utilising INMOS T800 transputer network, for which programming is performed in the ANSI C language. The execution times achieved by the distributed algorithm are well within the limit acceptable for real time control.< >
An intelligent and robust voting service for real-time distributed controlsystems is proposed. Three novel features of the voter are described. Firstly, the voter is distributed using a primary site algorithm. This a...
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The paper presents an investigation into the utilisation of parallel processing techniques in the real-time simulation of a flexible manipulator system. The performance demands of modern controlsystems require the em...
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The paper presents an investigation into the utilisation of parallel processing techniques in the real-time simulation of a flexible manipulator system. The performance demands of modern controlsystems require the employment of complex algorithms with demanding operations. This, in turn, leads to shorter sampling times. Therefore, real-time performances with complex algorithms become difficult to achieve. Many demanding complex processes cannot be satisfactorily realised with conventional uni-processor and multi-processor systems. Thus, alternative strategies where multi-processor based systems are employed, making effective use of parallel processing techniques, could provide suitable solutions. A finite dimensional simulation of a single-link flexible manipulator system is developed through discretisation of the governing dynamic equation of the system both in time and space co-ordinates using finite difference approximation methods. The proposed algorithm allows for dynamic modification of the boundary conditions and inclusion of distributed actuator and sensor terms in the system dynamic equation.< >
The observed polarisation of the horizontal magnetic components of whistler mode signals received at Halley, Antarctica (L≈ 4.3), is in many cases that expected from a simple model of the transionospheric and sub-ion...
The paper describes the design of an advanced control system for the PUMA560 industrial robotic manipulator using a high-performance parallel transputer (T805) network. The Transputer Interface Board (TIE) which estab...
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The paper describes the design of an advanced control system for the PUMA560 industrial robotic manipulator using a high-performance parallel transputer (T805) network. The Transputer Interface Board (TIE) which establishes a transputer link to the 6503 microprocessors of the PUMA arm controller, is detailed. Much more flexibility can be achieved with this system. The interface period is now reduced to 1.75 ms (instead of the default 28 ms). controlled by this new system, PUMA moves much more smoothly.< >
This paper aims to utilise a model of the surrounding field together with measured data therefrom to locate and orientate an observer. A single valued solution is developed to calculate the position of a vehicle in a ...
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This paper aims to utilise a model of the surrounding field together with measured data therefrom to locate and orientate an observer. A single valued solution is developed to calculate the position of a vehicle in a continuous field environment described by a known polynomial, from a minimum number of equispaced field measurements taken at that location and known coefficients of the polynomial. Where insufficient measurements from a single scan of the field are available, a formula for utilising extra data from several scans has been produced. The robustness of these algorithm, when the observation process is corrupted by Gaussian white noise, is also addressed.< >
This paper introduces a framework of tools which allow the design of distributed, potentially fault-tolerant, real-time control software. This framework takes a system specified in the controlengineering domain and t...
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This paper introduces a framework of tools which allow the design of distributed, potentially fault-tolerant, real-time control software. This framework takes a system specified in the controlengineering domain and translates this application-oriented representation into a software engineering representation. From this new representation, automatic code generation tools have been developed to create a complete, executable control system implementation.< >
SADAP has been developed to simulate the administration of intravenous and analgesic drugs. It merges on-line measurements (such as systolic arterial pressure (SAP) and heart rate (HR)) and non-numerical clinical sign...
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SADAP has been developed to simulate the administration of intravenous and analgesic drugs. It merges on-line measurements (such as systolic arterial pressure (SAP) and heart rate (HR)) and non-numerical clinical signs (such as sweating, lacrimation and pupil response) using anaesthetists' experience or self-organizing fuzzy logic control (SOFLC) algorithms to administer drugs into a patient. The hierarchical control architecture includes five parts which are: inferring DOA, drug controller, deciding the sensitivity of patient, fentanyl supplementation, and recovery time. It has been developed to predict drug profiles, control the drug levels, and assess recovery time during anaesthesia. Linguistic rules and fuzzy set theory have been used to model a patient during induction and maintenance stages. Successful results have given confidence to perform on-line clinical trials in operating theatre. In parallel research, the same generic architecture has been successfully demonstrated for inhalational anaesthesia using the gaseous drug isoflurane.< >
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