This paper first describes performance evaluations tools which enable the control engineer to select appropriate algorithm realisations and hardware configurations for a transputer-based implementation using the occam...
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This paper first describes performance evaluations tools which enable the control engineer to select appropriate algorithm realisations and hardware configurations for a transputer-based implementation using the occam programming language. An environment has been developed, which integrates the control system design tool, MATLAB, with the Transputer Development System, TDS, plus software tools to automate the mapping of controllers on transputer arrays, using either static or dynamic task allocation. Performance evaluation is carried out on the actual transputer hardware, by displaying on-line, processor activity, execution time and task allocation for each array. The paper further analyses the performance benefits of dynamic and static task allocation, for implementing real-time controllers. A Case Study algorithm has been partitioned into a number of fixed-size small grains, providing an initial insight into the potential benefits and bottlenecks of the allocation strategies. Then, the complexity of the tasks has been augmented, by means of increasing the granularity. This permits the evaluation of the performance of the allocation tools in a more general manner. Further, the tools assist the identification of an appropriate task grain size to result in a suitable compute/communicate ratio for the target hardware.
Considers the potential benefits of model-based control for building internal environments. It is shown that improved regulation is possible, together with energy savings compared with the main control techniques curr...
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Considers the potential benefits of model-based control for building internal environments. It is shown that improved regulation is possible, together with energy savings compared with the main control techniques currently widely employed in building energy management systems (BEMS). Successful development and commercial exploitation of these advanced control methods will offer BEMS manufacturers an easily achievable added-value component to their product range, since the implementation hardware is already in place in the majority of cases.< >
Deals with graphic simulation of the dynamics and motion of robot manipulators implemented on a Sun workstation. The graphics work was limited to 2D models, using a skeleton or spine drawing technique to represent the...
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Deals with graphic simulation of the dynamics and motion of robot manipulators implemented on a Sun workstation. The graphics work was limited to 2D models, using a skeleton or spine drawing technique to represent the arm. The plotting and mapping of the graphics utilizes the homogeneous transformation matrices which contain information on the position and orientation of manipulator links. The organization and interpretation of plotting, the direct use of the homogeneous transformation matrices and manipulator Jacobian in relating joint coordinate to Cartesian coordinate, and the structure of graphics display are discussed. The simulation program was arranged to form a user-friendly package. It includes inverse and forward kinematics and dynamics, as well as an adaptive control procedure. A dynamics analysis and control facility was implemented, which is an extension to currently available robot graphics simulation packages.< >
A model reference adaptive control (MRAC) technique was used for controlling the dynamic performance of flexible arms. The parameters of a lightweight graphite laminate composite material were used in the case studies...
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A model reference adaptive control (MRAC) technique was used for controlling the dynamic performance of flexible arms. The parameters of a lightweight graphite laminate composite material were used in the case studies for the design of the flexible arm. The performance of the lightweight arm design was investigated by simulation. A motion trajectory emulating as close as possible the Gaussian acceleration trajectory profile was chosen to avoid unwanted perturbations in the overall system behavior that might lead to vibrations in the flexible link. A revolute joint flexible arm design was used in the case studies for a three-link lightweight flexible arm. An investigation into the performance of the lightweight flexible arms subjected to high velocity minimum-time trajectories and variations in payload was performed.< >
The authors introduce parallel-processing concepts to the problem of the real-time dynamic simulation of a robot manipulator. A heuristic load-balancing procedure is used to distribute the dynamic equations of a robot...
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The authors introduce parallel-processing concepts to the problem of the real-time dynamic simulation of a robot manipulator. A heuristic load-balancing procedure is used to distribute the dynamic equations of a robot arm over a network of parallel-processors. The dynamics are divided into different subtasks. Each inter-related group of subtasks is assigned to one processor. This helps in minimizing the communication time between different processors. In this case, each processor will spend its time on useful computations and number crunching, leading to better utilization of the resources. The efficiency of this approach lies in its simplicity, generality, and cost-effectiveness. The method is demonstrated by a case study.< >
PID controllers are a standard building block in industrial control, and we have recently proposed automating the process of tuning the PID parameters to a particular plant, by means of neural networks. In order to as...
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PID controllers are a standard building block in industrial control, and we have recently proposed automating the process of tuning the PID parameters to a particular plant, by means of neural networks. In order to assess the performance of this new technique, we have built a real-time implementation, programmed in OCCAM and executed on INMOS transputers. A description is given of the main constituent blocks, with a special emphasis on the block which is responsible for the adaptation mechanism. The results obtained are presented for simulated plants with varying time-delay and varying number, and locations, of the poles.
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