This paper presents a Shared Control Architecture(SCA)between a human pilot and a smart inceptor for nonlinear Pilot Induced Oscillations(PIOs),e.g.,category II or III PIOs.One innovation of this paper is that an inte...This paper presents a Shared Control Architecture(SCA)between a human pilot and a smart inceptor for nonlinear Pilot Induced Oscillations(PIOs),e.g.,category II or III PIOs.One innovation of this paper is that an intelligent shared control architecture is developed based on the intelligent active inceptor technique,i.e.,Smart Adaptive Flight Effective Cue(SAFE-Cue).A deep reinforcement learning approach namely Deep Deterministic Policy Gradient(DDPG)method is chosen to design a gain adaptation mechanism for the SAFE-Cue module.By doing this,the gains of the SAFE-Cue will be intelligently tuned once nonlinear PIOs triggered;meanwhile,the human pilot will receive a force cue from the SAFE-Cue,and will consequently adapting his/her control policy.The second innovation of this paper is that the reward function of the DDPG based gain adaptation approach is constructed according to flying qualities.Under the premise of considering failure situation,task completion qualities and pilot workload are also taken into account.Finally,the proposed approach is validated using numerical simulation experiments with two types of scenarios:lower actuator rate limits and airframe damages.The Inceptor Peak Power-Phase(IPPP)metric is adopted to analyze the human-vehicle system simulation results.Results and analysis show that the DDPG based sharing control approach can well address nonlinear PIO problems consisting of Categories Ⅱ and Ⅲ PIO events.展开更多
This paper researches on a kind of control architecture for autonomous undelwater vehicle （AUV）. After describing the hybrid property of the AUV control system, we present the hierarchical AUV control architecture. ...This paper researches on a kind of control architecture for autonomous undelwater vehicle （AUV）. After describing the hybrid property of the AUV control system, we present the hierarchical AUV control architecture. The architecture is organized in three layers： mission layer, task layer and execution layer. State supervisor and task coordinator are two key modules handling discrete events, so we describe these two modules in detail. Finally, we carried out a series of tests to verify this architecture The test results show that the AUV can perform autonomous missions effectively and safely. We can conclude the control architecture is valid and practical.展开更多
Oceanographic survey, or other similar applications should be the applications of multiple AUVs. In this paper, the skill & simulation based hybrid control architecture (S2BHCA) as the controller's design refe...Oceanographic survey, or other similar applications should be the applications of multiple AUVs. In this paper, the skill & simulation based hybrid control architecture (S2BHCA) as the controller's design reference was proposed. It is a multi-robot cooperation oriented intelligent control architecture based on hybrid ideas. The S2 BHCA attempts to incorporate the virtues of the reactive controller and of the deliberative controller by introducing the concept of the "skill". The additional online task simulation ability for cooperation is supported, too. As an application, a multiple AUV control system was developed with three "skills" for the MCM mission including two different cooperative tasks. The simulation and the sea trials show that simple task expression, fast reaction and better cooperation support can be achieved by realizing the AUV controller based on the S2 BHCA.展开更多
TISPAN,from a fixed access perspective,proposes Resource and Admission Control Subsystem[0](RACS) as a solution to Quality of Service(QoS) problem for NGN bearer network.In contrast,3GPP has an approach to this from t...TISPAN,from a fixed access perspective,proposes Resource and Admission Control Subsystem[0](RACS) as a solution to Quality of Service(QoS) problem for NGN bearer network.In contrast,3GPP has an approach to this from the perspective of mobile access.In the latest 3GPP R7 draft,integration of Policy Control Function(PCF) with Flow Based Charging(FBC) function of the R6 brought forward policy control and charging.With the development of fixed mobile convergence,the inconsistence in architectures and interfaces of different resource and admission control[0] solutions will have a huge impact on manufacture and network implementation of NGN related equipment.To solve this problem,both 3GPP and TISPAN have been working on the convergence of Gq’/Rx reference points.Harmonized Policy Control and Charging(PCC) proposed by the Next Generation Mobile Network(NGMN) forum,i.e.cooperative resource control architecture for heterogeneous networks,represents an evolutional sign post for resource control technology for heterogeneous network architecture.展开更多
Activated carbons have been widely employed as electrode materials of aqueous supercapacitors but the use of hazardous and corrosive activating agents challenges conventional activation procedures.Here,using a unique ...Activated carbons have been widely employed as electrode materials of aqueous supercapacitors but the use of hazardous and corrosive activating agents challenges conventional activation procedures.Here,using a unique molten salt assisted self-activation technique,we have devised an eco-friendly and simple method to synthesize oxygen-rich hierarchical porous carbon with controllable architecture.Mixture of sodium carboxymethylcellulose and NaCl was pyrolyzed in one step,creating in-situ produced Na_(2)CO_(3)-NaCl molten salt that carried out the activation work.Na2 CO3 acts as the activating agent in the reaction media of NaCl during the self-activation process.The obtained carbon exhibited a remarkable specific capacitance of 278 F g^(−1) at 0.5 A g^(−1) and retained 76%capacitance at 50 A g^(−1) in a three-electrode cell.The fabricated aqueous coin cell achieved 81%capacitance retention at 50 A g^(−1) and the highest specific energy density of 12.8 Wh kg^(−1) at 214.6 W kg^(−1),which are superior compared to the commercial activated carbon(64%at 50 A g^(−1) and 8.4 Wh kg^(−1) at 194.8 W kg^(−1)).Moreover,capacitance fading was not observed after 10000 cycles at 5 A g^(−1).Considering the species diversity and low cost of self-salt polymers on the market,this strategy will expect to become a scalable approach for synthesizing high-performance capacitive carbons.展开更多
Rice is one of the most consumed staple food plants around the world, and its plant architecture is very important to improve the grain yield （Zhang et al., 2008）. Plant height, leaf angle, tiller number and angle, ...Rice is one of the most consumed staple food plants around the world, and its plant architecture is very important to improve the grain yield （Zhang et al., 2008）. Plant height, leaf angle, tiller number and angle, and uniformity of panicle layer all can have strong effects on grain yield （Wang and Li, 2008）. During the long history of domestication, rice has been selected to develop uniform tiller height architecture that ensures panicle layer uniformity and ease of harvesting （Ma et al., 2009）, and is largely determined by the synchronic culm elongation.展开更多
Inflorescences are flower-bearing shoots that originate from pools of stem cells in shoot apical meristems (SAM).Inflorescence architecture is determined by a process of meristem maturation,during which stem cell fate...Inflorescences are flower-bearing shoots that originate from pools of stem cells in shoot apical meristems (SAM).Inflorescence architecture is determined by a process of meristem maturation,during which stem cell fate switches from a vegetative to a reproductive growth program.A major factor in plant reproductive success in nature and yield in agriculture is the number of branches and flowers on inflorescences (Kobayashi and Weigel,2007;展开更多
The Internet is playing an important role in information retrieval, and additionally industrial process manipulation. This paper describes an approach to writing requirements specifications for Internet-based control ...The Internet is playing an important role in information retrieval, and additionally industrial process manipulation. This paper describes an approach to writing requirements specifications for Internet-based control systems, from which architectures can be derived. The requirements specifications developed are described in terms of a functional model, which is then extended to form an information architecture. Distinct from the functional model, the information architecture provides an indication as to the architectural structure of subsequently developed Internet-based control systems. Three general control structures are generated from the analysis of an information architecture. An integrated-distributed architecture is derived as an ideal implementation, in which a control system is linked to the Internet at all levels of a control system hierarchy.展开更多
Linux-based Platform for Open Architecture Controller ( POAC ), a new open architecture controller and its modular developing method are discussed. POAC divides the application software of controller into the developi...Linux-based Platform for Open Architecture Controller ( POAC ), a new open architecture controller and its modular developing method are discussed. POAC divides the application software of controller into the developing system and the application system. In the developing system, PAOC abstracts a series of function modules with unified data interface and function interface. In the application system, POAC defines the model of the architecture module, realizing the interoperability and interchangeability between the architecture modules. The modular developing method entities the users to make up an application system with some architecture modules, which consist of a set of function modules. The modular developing method decreases the developing time from the standard of controller architecture to the product.展开更多
This paper introduces the architecture and implementation of an industrial robot control system based on Windows NT. This robot control system, which is based on a single-processor structure, can run on general indust...This paper introduces the architecture and implementation of an industrial robot control system based on Windows NT. This robot control system, which is based on a single-processor structure, can run on general industrial computers. Owing to using Windows NT's real-time extension RTX, the control system can achieve good realtime performance and friendly user interface in one general-purpose operating system. A three layer hierarchical architecture of control software is proposed to make the system more scalable and flexible. Furthermore a communication and configuration system is implemented to enable modules to communicate with each other, which make the control system scalable and flexible.展开更多
In view of the lack of research on the information model of tufting carpet machine in China,an information modeling method based on Object Linking and Embedding for Process Control Unified Architecture(OPC UA)framewor...In view of the lack of research on the information model of tufting carpet machine in China,an information modeling method based on Object Linking and Embedding for Process Control Unified Architecture(OPC UA)framework was proposed to solve the problem of“information island”caused by the differentiated data interface between heterogeneous equipment and system in tufting carpet machine workshop.This paper established an information model of tufting carpet machine based on analyzing the system architecture,workshop equipment composition and information flow of the workshop,combined with the OPC UA information modeling specification.Subsequently,the OPC UA protocol is used to instantiate and map the information model,and the OPC UA server is developed.Finally,the practicability of tufting carpet machine information model under the OPC UA framework and the feasibility of realizing the information interconnection of heterogeneous devices in the tufting carpet machine digital workshop are verified.On this basis,the cloud and remote access to the underlying device data are realized.The application of this information model and information integration scheme in actual production explores and practices the application of OPC UA technology in the digital workshop of tufting carpet machine.展开更多
1 Introduction Reservoir architecture analysis of distributary channel of Daqing oilfield has drawn consistent interest among development geologists and petroleum engineers over the last decade(Lv et al.,1999;Zhou et ...1 Introduction Reservoir architecture analysis of distributary channel of Daqing oilfield has drawn consistent interest among development geologists and petroleum engineers over the last decade(Lv et al.,1999;Zhou et al.,2008;Zhang et展开更多
In this paper,we propose a real-time energy-efficient anticipative driving control strategy for connected and automated hybrid electric vehicles(HEVs).Considering the inherent complexities brought about by the velocit...In this paper,we propose a real-time energy-efficient anticipative driving control strategy for connected and automated hybrid electric vehicles(HEVs).Considering the inherent complexities brought about by the velocity profile optimization and energy management control,a hierarchical control architecture in the model predictive control(MPC)framework is developed for real-time implementation.In the higher level controller,a novel velocity optimization problem is proposed to realize safe and energy-efficient anticipative driving.The real-time control actions are derived through a computationally efficient algorithm.In the lower level controller,an explicit solution of the optimal torque split ratio and gear shift schedule is introduced for following the optimal velocity profile obtained from the higher level controller.The comparative simulation results demonstrate that the proposed strategy can achieve approximately 13%fuel consumption saving compared with a benchmark strategy.展开更多
with the development of science and technology, smart home systems require better, faster to meet the needs of human. In order to achieve this goal, the human-machine-items all need to interact each other with underst...with the development of science and technology, smart home systems require better, faster to meet the needs of human. In order to achieve this goal, the human-machine-items all need to interact each other with understand, efficient and speedy. Cps could unify combination with the human-machine-items; realize the interaction between the physical nformation and the cyber world. However, information interaction and the control task needs to be completed in a valid time. Therefore, the transform delay control strategy becomes more and more important. This paper analysis Markov delay control strategy for smart home systems, which might help the system decrease the transmission delay.展开更多
As a key te..hnology in the field of advanced manufacturing, an open architecture controller is studied. In order to develop an open architecture software-CNC system on personal computer （PC） according to open modul...As a key te..hnology in the field of advanced manufacturing, an open architecture controller is studied. In order to develop an open architecture software-CNC system on personal computer （PC） according to open modular architecture controllers （OMAC）. First, the software and hardware platform is chosen and software realization methodology for the CNC system is determined. Second, static modeling methods of an open architecture controller inclusive of object-oriented （OO） programming technology, dynamic link library （DLL） technology and system modules partition are investigated. Third, the dynamical behavioral modeling and the data flow representation of open architecture controller are discussed, which are both described in hierarchy fmite state machine （FSM） model. Fourth, a reusable software module model is established to develop software function module library. Finally, a 3-axis milling machine tool test-bed, named for HIT-CNC, is successfully designed by means of the constructed software function module library and the system configuring method. The experimental results show that, besides increasing the degree of reusability and openness, application of above-mentioned method- ology leads to significant decrease of development time as well as maintenance cost.展开更多
Plenty of dams in China are in danger while there are few effective methods for underwater dam inspections of hidden problems such as conduits,cracks and inanitions.The dam safety inspection remotely operated vehicle(...Plenty of dams in China are in danger while there are few effective methods for underwater dam inspections of hidden problems such as conduits,cracks and inanitions.The dam safety inspection remotely operated vehicle(DSIROV) is designed to solve these problems which can be equipped with many advanced sensors such as acoustical,optical and electrical sensors for underwater dam inspection.A least-square parameter estimation method is utilized to estimate the hydrodynamic coefficients of DSIROV,and a four degree-of-freedom(DOF) simulation system is constructed.The architecture of DSIROV's motion control system is introduced,which includes hardware and software structures.The hardware based on PC104 BUS,uses AMD ELAN520 as the controller's embedded CPU and all control modules work in VxWorks real-time operating system.Information flow of the motion system of DSIROV,automatic control of dam scanning and dead-reckoning algorithm for navigation are also discussed.The reliability of DSIROV's control system can be verified and the control system can fulfill the motion control mission because embankment checking can be demonstrated by the lake trials.展开更多
Aiming at the characteristics of modularity and reconfigurable in open architecture computer numerical control （CNC） system, the open architecture CNC system, Harbin Institute of Tech- nology computer numerical cont...Aiming at the characteristics of modularity and reconfigurable in open architecture computer numerical control （CNC） system, the open architecture CNC system, Harbin Institute of Tech- nology computer numerical control （HITCNC）, is researched and manufactured based on the interface standards. The system＇s external interfaces are coincident with the corresponding international standards, and the internal interfaces follow the open modular architecture controller （OMAC） agreement. In the research and manufacturing process, object-oriented technology is used to ensure the openness of the HITCNC, and static programming is applied in the CNC system according to the idea of modularization disassembly. The HITCNC also actualizes real-time and unreal-time modules adopting real-time dynamical linked library （RTDLL） and component object model （COM）. Finite state ma- chine （FSM） is adopted to do dynamically modeling of HITCNC. The complete separation between the software and the hardware is achieved in the HITCNC by applying the SoftSERCANS technique. The application of the above key techniques decreases the programming workload greatly, and uses software programs replacing hardware functions, which offers plenty technique ensures for the openness of HITCNC. Finally, based on the HITCNC, a three-dimensional milling system is established. On the system, series experiments are done to validate the expandability and interchangeability of HITCNC. The results of the experiments show that the established open architecture CNC system HITCNC is correct and feasible, and has good openness.展开更多
Computer based automation and control systems are becoming increasingly important in smart sustainable buildings,often referred to as automated buildings(ABs),in order to automatically control,optimize and supervise a...Computer based automation and control systems are becoming increasingly important in smart sustainable buildings,often referred to as automated buildings(ABs),in order to automatically control,optimize and supervise a wide range of building performance applications over a network while minimizing energy consumption and associated green house gas emission.This technology generally refers to building automation and control systems(BACS)architecture.Instead of costly and time-consuming experiments,this paper focuses on development and design of a distributed dynamic simulation environment with the capability to represent BACS architecture in simulation by run-time coupling two or more different software tools over a network.This involves using distributed dynamic simulations as means to analyze the performance and enhance networked real-time control systems in ABs and improve the functions of real BACS technology.The application and capability of this new dynamic simulation environment are demonstrated by an experimental design,in this paper.展开更多
Microgrids are gaining popularity by facilitating distributed energy resources(DERs)and forming essential consumer/prosumer centric integrated energy systems.Integration,coordination and control of multiple DERs and m...Microgrids are gaining popularity by facilitating distributed energy resources(DERs)and forming essential consumer/prosumer centric integrated energy systems.Integration,coordination and control of multiple DERs and managing the energy transition in this environment is a strenuous task.Classical control techniques are not enough to support dynamic microgrid environments.Implementation of Artificial Intelligence(AI)techniques seems to be a promising solution to enhance the control and operation of microgrids in future smart grid networks.Therefore,this paper briefly reviews the control architectures,existing conventional controlling techniques,their drawbacks,the need for intelligent controllers and then extensively reviews the possibility of AI implementation in different control structures with a special focus on the hierarchical control layers.This paper also investigates the AI-based control strategies in networked/interconnected/multi-microgrids environments.It concludes with the summary and future scopes of AI implementation in hierarchical control layers and structures including single and networked microgrids environments.展开更多
The PBJ- 01 robot is a kind of mobile robot featuring six wheels and two swing arms which can help it to fit many terrains. The robot has a sophisticated sensor system, which includes ultrasonic sensors, tentacle sens...The PBJ- 01 robot is a kind of mobile robot featuring six wheels and two swing arms which can help it to fit many terrains. The robot has a sophisticated sensor system, which includes ultrasonic sensors, tentacle sensors and a vision sensor. The PBJ- 01 adopts behavior-based reactive control architecture in which the key part is an object recognition system based on a fuzzy neural network. Simulation validates that this system can conclude the obstacle type from the sensor data, and help the robot decide whether to negotiate or to avoid obstacles.展开更多
基金co-supported by the Fundamental Research Funds for the Central Universities of China(No.YWF-23-SDHK-L-005)the 1912 Project,China and the Aeronautical Science Foundation of China(No.20220048051001).
文摘This paper presents a Shared Control Architecture(SCA)between a human pilot and a smart inceptor for nonlinear Pilot Induced Oscillations(PIOs),e.g.,category II or III PIOs.One innovation of this paper is that an intelligent shared control architecture is developed based on the intelligent active inceptor technique,i.e.,Smart Adaptive Flight Effective Cue(SAFE-Cue).A deep reinforcement learning approach namely Deep Deterministic Policy Gradient(DDPG)method is chosen to design a gain adaptation mechanism for the SAFE-Cue module.By doing this,the gains of the SAFE-Cue will be intelligently tuned once nonlinear PIOs triggered;meanwhile,the human pilot will receive a force cue from the SAFE-Cue,and will consequently adapting his/her control policy.The second innovation of this paper is that the reward function of the DDPG based gain adaptation approach is constructed according to flying qualities.Under the premise of considering failure situation,task completion qualities and pilot workload are also taken into account.Finally,the proposed approach is validated using numerical simulation experiments with two types of scenarios:lower actuator rate limits and airframe damages.The Inceptor Peak Power-Phase(IPPP)metric is adopted to analyze the human-vehicle system simulation results.Results and analysis show that the DDPG based sharing control approach can well address nonlinear PIO problems consisting of Categories Ⅱ and Ⅲ PIO events.
文摘This paper researches on a kind of control architecture for autonomous undelwater vehicle （AUV）. After describing the hybrid property of the AUV control system, we present the hierarchical AUV control architecture. The architecture is organized in three layers： mission layer, task layer and execution layer. State supervisor and task coordinator are two key modules handling discrete events, so we describe these two modules in detail. Finally, we carried out a series of tests to verify this architecture The test results show that the AUV can perform autonomous missions effectively and safely. We can conclude the control architecture is valid and practical.
文摘Oceanographic survey, or other similar applications should be the applications of multiple AUVs. In this paper, the skill & simulation based hybrid control architecture (S2BHCA) as the controller's design reference was proposed. It is a multi-robot cooperation oriented intelligent control architecture based on hybrid ideas. The S2 BHCA attempts to incorporate the virtues of the reactive controller and of the deliberative controller by introducing the concept of the "skill". The additional online task simulation ability for cooperation is supported, too. As an application, a multiple AUV control system was developed with three "skills" for the MCM mission including two different cooperative tasks. The simulation and the sea trials show that simple task expression, fast reaction and better cooperation support can be achieved by realizing the AUV controller based on the S2 BHCA.
文摘TISPAN,from a fixed access perspective,proposes Resource and Admission Control Subsystem[0](RACS) as a solution to Quality of Service(QoS) problem for NGN bearer network.In contrast,3GPP has an approach to this from the perspective of mobile access.In the latest 3GPP R7 draft,integration of Policy Control Function(PCF) with Flow Based Charging(FBC) function of the R6 brought forward policy control and charging.With the development of fixed mobile convergence,the inconsistence in architectures and interfaces of different resource and admission control[0] solutions will have a huge impact on manufacture and network implementation of NGN related equipment.To solve this problem,both 3GPP and TISPAN have been working on the convergence of Gq’/Rx reference points.Harmonized Policy Control and Charging(PCC) proposed by the Next Generation Mobile Network(NGMN) forum,i.e.cooperative resource control architecture for heterogeneous networks,represents an evolutional sign post for resource control technology for heterogeneous network architecture.
基金financial support from the Australian Research Council Discovery Programs(Nos.DP190103661 and DP220103229)the Australian Government Research Training Program Scholarship.
文摘Activated carbons have been widely employed as electrode materials of aqueous supercapacitors but the use of hazardous and corrosive activating agents challenges conventional activation procedures.Here,using a unique molten salt assisted self-activation technique,we have devised an eco-friendly and simple method to synthesize oxygen-rich hierarchical porous carbon with controllable architecture.Mixture of sodium carboxymethylcellulose and NaCl was pyrolyzed in one step,creating in-situ produced Na_(2)CO_(3)-NaCl molten salt that carried out the activation work.Na2 CO3 acts as the activating agent in the reaction media of NaCl during the self-activation process.The obtained carbon exhibited a remarkable specific capacitance of 278 F g^(−1) at 0.5 A g^(−1) and retained 76%capacitance at 50 A g^(−1) in a three-electrode cell.The fabricated aqueous coin cell achieved 81%capacitance retention at 50 A g^(−1) and the highest specific energy density of 12.8 Wh kg^(−1) at 214.6 W kg^(−1),which are superior compared to the commercial activated carbon(64%at 50 A g^(−1) and 8.4 Wh kg^(−1) at 194.8 W kg^(−1)).Moreover,capacitance fading was not observed after 10000 cycles at 5 A g^(−1).Considering the species diversity and low cost of self-salt polymers on the market,this strategy will expect to become a scalable approach for synthesizing high-performance capacitive carbons.
基金supported by funds from the National Transgenic Major Program Grants(No.2009ZX08009-022B)
文摘Rice is one of the most consumed staple food plants around the world, and its plant architecture is very important to improve the grain yield （Zhang et al., 2008）. Plant height, leaf angle, tiller number and angle, and uniformity of panicle layer all can have strong effects on grain yield （Wang and Li, 2008）. During the long history of domestication, rice has been selected to develop uniform tiller height architecture that ensures panicle layer uniformity and ease of harvesting （Ma et al., 2009）, and is largely determined by the synchronic culm elongation.
基金supported by startup funding to C.X.from State Key Laboratory of Plant Genomics and Institute of Genetics and Developmental Biology,Chinese Academy of Sciences,and a National Science Foundation grant(IOS-1556171)to Z.B.L
文摘Inflorescences are flower-bearing shoots that originate from pools of stem cells in shoot apical meristems (SAM).Inflorescence architecture is determined by a process of meristem maturation,during which stem cell fate switches from a vegetative to a reproductive growth program.A major factor in plant reproductive success in nature and yield in agriculture is the number of branches and flowers on inflorescences (Kobayashi and Weigel,2007;
基金This work was supported in part by the EPSRC under Grant GR/R13371/01.
文摘The Internet is playing an important role in information retrieval, and additionally industrial process manipulation. This paper describes an approach to writing requirements specifications for Internet-based control systems, from which architectures can be derived. The requirements specifications developed are described in terms of a functional model, which is then extended to form an information architecture. Distinct from the functional model, the information architecture provides an indication as to the architectural structure of subsequently developed Internet-based control systems. Three general control structures are generated from the analysis of an information architecture. An integrated-distributed architecture is derived as an ideal implementation, in which a control system is linked to the Internet at all levels of a control system hierarchy.
基金Shanghai Science and Technology Development Foundation (995107017)
文摘Linux-based Platform for Open Architecture Controller ( POAC ), a new open architecture controller and its modular developing method are discussed. POAC divides the application software of controller into the developing system and the application system. In the developing system, PAOC abstracts a series of function modules with unified data interface and function interface. In the application system, POAC defines the model of the architecture module, realizing the interoperability and interchangeability between the architecture modules. The modular developing method entities the users to make up an application system with some architecture modules, which consist of a set of function modules. The modular developing method decreases the developing time from the standard of controller architecture to the product.
基金Supported by National Natural Science foundation of China (No. 69975014)
文摘This paper introduces the architecture and implementation of an industrial robot control system based on Windows NT. This robot control system, which is based on a single-processor structure, can run on general industrial computers. Owing to using Windows NT's real-time extension RTX, the control system can achieve good realtime performance and friendly user interface in one general-purpose operating system. A three layer hierarchical architecture of control software is proposed to make the system more scalable and flexible. Furthermore a communication and configuration system is implemented to enable modules to communicate with each other, which make the control system scalable and flexible.
文摘In view of the lack of research on the information model of tufting carpet machine in China,an information modeling method based on Object Linking and Embedding for Process Control Unified Architecture(OPC UA)framework was proposed to solve the problem of“information island”caused by the differentiated data interface between heterogeneous equipment and system in tufting carpet machine workshop.This paper established an information model of tufting carpet machine based on analyzing the system architecture,workshop equipment composition and information flow of the workshop,combined with the OPC UA information modeling specification.Subsequently,the OPC UA protocol is used to instantiate and map the information model,and the OPC UA server is developed.Finally,the practicability of tufting carpet machine information model under the OPC UA framework and the feasibility of realizing the information interconnection of heterogeneous devices in the tufting carpet machine digital workshop are verified.On this basis,the cloud and remote access to the underlying device data are realized.The application of this information model and information integration scheme in actual production explores and practices the application of OPC UA technology in the digital workshop of tufting carpet machine.
基金funding support of this project from National Science and Technology Major Project of the Ministry of Science and Technology of China (Grant No. 2011ZX05010-002-005)
文摘1 Introduction Reservoir architecture analysis of distributary channel of Daqing oilfield has drawn consistent interest among development geologists and petroleum engineers over the last decade(Lv et al.,1999;Zhou et al.,2008;Zhang et
基金supported by in part by the China Automobile Industry Innovation and Development Joint Fund(No.U1864206)in part by the National Nature Science Foundation of China(No.62003244)+1 种基金in part by the Jilin Provincial Science and Technology Department(No.20200301011RQ)in part by the Jilin Provincial Science Foundation of China(No.20200201062JC).
文摘In this paper,we propose a real-time energy-efficient anticipative driving control strategy for connected and automated hybrid electric vehicles(HEVs).Considering the inherent complexities brought about by the velocity profile optimization and energy management control,a hierarchical control architecture in the model predictive control(MPC)framework is developed for real-time implementation.In the higher level controller,a novel velocity optimization problem is proposed to realize safe and energy-efficient anticipative driving.The real-time control actions are derived through a computationally efficient algorithm.In the lower level controller,an explicit solution of the optimal torque split ratio and gear shift schedule is introduced for following the optimal velocity profile obtained from the higher level controller.The comparative simulation results demonstrate that the proposed strategy can achieve approximately 13%fuel consumption saving compared with a benchmark strategy.
文摘with the development of science and technology, smart home systems require better, faster to meet the needs of human. In order to achieve this goal, the human-machine-items all need to interact each other with understand, efficient and speedy. Cps could unify combination with the human-machine-items; realize the interaction between the physical nformation and the cyber world. However, information interaction and the control task needs to be completed in a valid time. Therefore, the transform delay control strategy becomes more and more important. This paper analysis Markov delay control strategy for smart home systems, which might help the system decrease the transmission delay.
基金Key Development Program of ScienceTechnology of Heilongjiang Province, China (GB05A501)
文摘As a key te..hnology in the field of advanced manufacturing, an open architecture controller is studied. In order to develop an open architecture software-CNC system on personal computer （PC） according to open modular architecture controllers （OMAC）. First, the software and hardware platform is chosen and software realization methodology for the CNC system is determined. Second, static modeling methods of an open architecture controller inclusive of object-oriented （OO） programming technology, dynamic link library （DLL） technology and system modules partition are investigated. Third, the dynamical behavioral modeling and the data flow representation of open architecture controller are discussed, which are both described in hierarchy fmite state machine （FSM） model. Fourth, a reusable software module model is established to develop software function module library. Finally, a 3-axis milling machine tool test-bed, named for HIT-CNC, is successfully designed by means of the constructed software function module library and the system configuring method. The experimental results show that, besides increasing the degree of reusability and openness, application of above-mentioned method- ology leads to significant decrease of development time as well as maintenance cost.
基金Project(20100480964) supported by China Postdoctoral Science FoundationProjects(2002AA420090,2008AA092301) supported by the National High Technology Research and Development Program of China
文摘Plenty of dams in China are in danger while there are few effective methods for underwater dam inspections of hidden problems such as conduits,cracks and inanitions.The dam safety inspection remotely operated vehicle(DSIROV) is designed to solve these problems which can be equipped with many advanced sensors such as acoustical,optical and electrical sensors for underwater dam inspection.A least-square parameter estimation method is utilized to estimate the hydrodynamic coefficients of DSIROV,and a four degree-of-freedom(DOF) simulation system is constructed.The architecture of DSIROV's motion control system is introduced,which includes hardware and software structures.The hardware based on PC104 BUS,uses AMD ELAN520 as the controller's embedded CPU and all control modules work in VxWorks real-time operating system.Information flow of the motion system of DSIROV,automatic control of dam scanning and dead-reckoning algorithm for navigation are also discussed.The reliability of DSIROV's control system can be verified and the control system can fulfill the motion control mission because embankment checking can be demonstrated by the lake trials.
基金This project is supported by Provincial Science & Technology Projoct of Heilongjiang, China (No. GB05A501).
文摘Aiming at the characteristics of modularity and reconfigurable in open architecture computer numerical control （CNC） system, the open architecture CNC system, Harbin Institute of Tech- nology computer numerical control （HITCNC）, is researched and manufactured based on the interface standards. The system＇s external interfaces are coincident with the corresponding international standards, and the internal interfaces follow the open modular architecture controller （OMAC） agreement. In the research and manufacturing process, object-oriented technology is used to ensure the openness of the HITCNC, and static programming is applied in the CNC system according to the idea of modularization disassembly. The HITCNC also actualizes real-time and unreal-time modules adopting real-time dynamical linked library （RTDLL） and component object model （COM）. Finite state ma- chine （FSM） is adopted to do dynamically modeling of HITCNC. The complete separation between the software and the hardware is achieved in the HITCNC by applying the SoftSERCANS technique. The application of the above key techniques decreases the programming workload greatly, and uses software programs replacing hardware functions, which offers plenty technique ensures for the openness of HITCNC. Finally, based on the HITCNC, a three-dimensional milling system is established. On the system, series experiments are done to validate the expandability and interchangeability of HITCNC. The results of the experiments show that the established open architecture CNC system HITCNC is correct and feasible, and has good openness.
文摘Computer based automation and control systems are becoming increasingly important in smart sustainable buildings,often referred to as automated buildings(ABs),in order to automatically control,optimize and supervise a wide range of building performance applications over a network while minimizing energy consumption and associated green house gas emission.This technology generally refers to building automation and control systems(BACS)architecture.Instead of costly and time-consuming experiments,this paper focuses on development and design of a distributed dynamic simulation environment with the capability to represent BACS architecture in simulation by run-time coupling two or more different software tools over a network.This involves using distributed dynamic simulations as means to analyze the performance and enhance networked real-time control systems in ABs and improve the functions of real BACS technology.The application and capability of this new dynamic simulation environment are demonstrated by an experimental design,in this paper.
文摘Microgrids are gaining popularity by facilitating distributed energy resources(DERs)and forming essential consumer/prosumer centric integrated energy systems.Integration,coordination and control of multiple DERs and managing the energy transition in this environment is a strenuous task.Classical control techniques are not enough to support dynamic microgrid environments.Implementation of Artificial Intelligence(AI)techniques seems to be a promising solution to enhance the control and operation of microgrids in future smart grid networks.Therefore,this paper briefly reviews the control architectures,existing conventional controlling techniques,their drawbacks,the need for intelligent controllers and then extensively reviews the possibility of AI implementation in different control structures with a special focus on the hierarchical control layers.This paper also investigates the AI-based control strategies in networked/interconnected/multi-microgrids environments.It concludes with the summary and future scopes of AI implementation in hierarchical control layers and structures including single and networked microgrids environments.
文摘The PBJ- 01 robot is a kind of mobile robot featuring six wheels and two swing arms which can help it to fit many terrains. The robot has a sophisticated sensor system, which includes ultrasonic sensors, tentacle sensors and a vision sensor. The PBJ- 01 adopts behavior-based reactive control architecture in which the key part is an object recognition system based on a fuzzy neural network. Simulation validates that this system can conclude the obstacle type from the sensor data, and help the robot decide whether to negotiate or to avoid obstacles.
