This paper investigates the problem of cluster synchronization of master-slave complex net-works with time-varying delay via linear and adaptive feedback pinning controls.We need not non-delayed and delayed coupling m...This paper investigates the problem of cluster synchronization of master-slave complex net-works with time-varying delay via linear and adaptive feedback pinning controls.We need not non-delayed and delayed coupling matrices to be symmetric or irreducible.We have the advantages of using adaptive control method to reduce control gain and pinning control technology to reduce cost.By con-structing Lyapunov function,some sufficient synchronization criteria are established.Finally,numerical examples are employed to illustrate the effectiveness of the proposed approach.展开更多
This paper proposes a control strategy that can realize seamless microgrid operation mode transition between grid-connected operation and stand-alone operation.The scenario of a microgrid based on master-slave control...This paper proposes a control strategy that can realize seamless microgrid operation mode transition between grid-connected operation and stand-alone operation.The scenario of a microgrid based on master-slave control is considered,where the master distributed generation(DG) unit operates in different control schemes in different microgrid operation modes,while other slave DG units operate with power/current control all the time.The proposed control strategy focuses on the master DG unit,and contains the control state/reference compensation algorithm and separation switch control logic.The proposed method can effectively reduce the impact on the critical loads and DG units caused by microgrid operation mode transitions.展开更多
This paper addresses a master-slave synchro- nization strategy for complex dynamic systems based on feedback control. This strategy is applied to 3-DOF pla- nar manipulators in order to obtain synchronization in such ...This paper addresses a master-slave synchro- nization strategy for complex dynamic systems based on feedback control. This strategy is applied to 3-DOF pla- nar manipulators in order to obtain synchronization in such complicated as chaotic motions of end-effectors. A chaotic curve is selected from Duffing equation as the trajectory of master end-effector and a piecewise approximation method is proposed to accurately represent this chaotic trajectory of end-effectors. The dynamical equations of master-slave manipulators with synchronization controller are derived, and the Lyapunov stability theory is used to determine the stability of this controlled synchronization system. In numer- ical experiments, the synchronous motions of end-effectors as well as three joint angles and torques of master-slave manipulators are studied under the control of the proposed synchronization strategy. It is found that the positive gain matrix affects the implementation of synchronization con- trol strategy. This synchronization control strategy proves the synchronization＇s feasibility and controllability for com- plicated motions generated by master-slave manipulators.展开更多
As a key component of injection molding,multi-cavity hot runner(MCHR)system faces the crucial problem of polymer melt filling imbalance among the cavities.The thermal imbalance in the system has been considered as the...As a key component of injection molding,multi-cavity hot runner(MCHR)system faces the crucial problem of polymer melt filling imbalance among the cavities.The thermal imbalance in the system has been considered as the leading cause.Hence,the solution may rest with the synchronization of those heating processes in MCHR system.This paper proposes a’Master-Slave’generalized predictive synchronization control(MS-GPSC)method with’Mr.Slowest’strategy for preheating stage of MCHR system.The core of the proposed method is choosing the heating process with slowest dynamics as the’Master’to track the setpoint,while the other heating processes are treated as‘Slaves’tracking the output of’Master’.This proposed method is shown to have the good ability of temperature synchronization.The corresponding analysis is conducted on parameters tuning and stability,simulations and experiments show the strategy is effective.展开更多
In this article, a synchronization problem for master-slave Markovian switching complex dynamical networks with time-varying delays in nonlinear function via sliding mode control is investigated. On the basis of the a...In this article, a synchronization problem for master-slave Markovian switching complex dynamical networks with time-varying delays in nonlinear function via sliding mode control is investigated. On the basis of the appropriate Lyapunov-Krasovskii functional, introducing some free weighting matrices, new synchronization criteria are derived in terms of linear matrix inequalities （LMIs）. Then, an integral sliding surface is designed to guarantee synchronization of master-slave Markovian switching complex dynamical networks, and the suitable controller is synthesized to ensure that the trajectory of the closed-loop error system can be driven onto the prescribed sliding mode surface. By using Dynkin＇s formula, we established the stochastic stablity of master-slave system. Finally, numerical example is provided to demonstrate the effectiveness of the obtained theoretical results.展开更多
This paper concerns with the master-slave exponential synchronization analysis for a class of general Lur'esystems with time delay.Different from the previous methods based on the differential inequality technique...This paper concerns with the master-slave exponential synchronization analysis for a class of general Lur'esystems with time delay.Different from the previous methods based on the differential inequality technique, a newapproach is proposed to derive some new exponential synchronization criteria.The restriction that the control widthhas to be larger than the time delay is removed.This leads to a larger application scope for our method.Moreover, notranscendental equation is involved in the obtained result, which reduces the computational burden.Two examples aregiven to validate the theoretical results.展开更多
Aiming at the weaknesses of LON bus, combining the coexistence of fieldbus and DCS (Distribu ted Control Systems) in control networks, the authors introduce a hierarchical hybrid control network design based on LON an...Aiming at the weaknesses of LON bus, combining the coexistence of fieldbus and DCS (Distribu ted Control Systems) in control networks, the authors introduce a hierarchical hybrid control network design based on LON and master slave RS 422/485 protocol. This design adopts LON as the trunk, master slave RS 422/485 control networks are connected to LON as special subnets by dedicated gateways. It is an implementation method for isomerous control network integration. Data management is ranked according to real time requirements for different network data. The core components, such as control network nodes, router and gateway, are detailed in the paper. The design utilizes both communication advantage of LonWorks technology and the more powerful control ability of universal MCUs or PLCs, thus it greatly increases system response speed and performance cost ratio.展开更多
In this paper,a self-developed master-slave follow-up disc cutter is used to conduct rock-breaking tests on hard sandstone samples.Different working parameters were employed in the tests(e.g.cutting depth,cutting spee...In this paper,a self-developed master-slave follow-up disc cutter is used to conduct rock-breaking tests on hard sandstone samples.Different working parameters were employed in the tests(e.g.cutting depth,cutting speed,cutting angle,and rotational speed)in order to explore their influences on cutting performance.The results indicate that the thrust,torque,vibration velocity,and roughness all increased continuously with increase of the propulsion speed and cutting depth.At the same time,the specific energy consumption was found to decrease continuously.As the rotational speed was increased,the thrust increased at first and then decreased.In contrast,the torque and roughness continuously decreased,and the specific energy consumption and vibration speed continuously increased.When the cutting angle was increased,the thrust remained unchanged.However,the torque,specific energy consumption,and vibration speed all decreased continuously,and the roughness increased continuously.The temperature of the surface of the cutting tool was found to be relatively uniformly distributed during the rock-breaking process;the highest temperatures generated were in the range of 200-300℃.As the propulsion speed,cutting depth,and cutting angle were increased,the proportion of tensile fractures produced appeared to increase and the proportion of shear fractures decreased.As the rotational speed was increased,the proportion of tensile fractures decreased and the proportion of shear fractures increased.The results could provide useful information on the rock-breaking behavior involved and can be used to offer technical support for engineers using master-slave follow-up disc cutters in the field.展开更多
The fluidic oscillator is an instrument that can continuously generate a spatially sweeping jet entirely based on its internal geometry without any moving parts.However,the traditional fluidic oscillator has an inhere...The fluidic oscillator is an instrument that can continuously generate a spatially sweeping jet entirely based on its internal geometry without any moving parts.However,the traditional fluidic oscillator has an inherent limitation,that is,the spreading angle cannot be controlled independently,rather by the jet volume flow rate and internal geometry.Accordingly,two types of fluidic oscillators based on the master-slave design are developed in current study to decouple this correlation.In both designs,the master layer inherits the similar oscillation mechanisms of a sweeping jet,and the slave layer resembles a steady jet channel.The difference between the two designs is that Design A has a short diverging exit in the slave layer,but Design B adds a long interaction chamber in the exit channel to intensify flow instability.The external flow fields and governing oscillation properties of these two designs are experimentally explored with time-resolved Particle Image Velocimetry(PIV),while the internal flow dynamics and driving oscillation mechanisms are numerically investigated.By fixing the total volume flow rate,the jet spreading angle of Design A can be increased smoothly from 0°to above 100°by increasing the proportion of master layer’s flow rate from 0 to 100%.For Design B,the control authority of the master layer is significantly enhanced by adding the interaction chamber in the slave layer.In addition,the added chamber causes notable jet oscillation even when the master layer has none input.展开更多
In this paper,we consider the maximal positive definite solution of the nonlinear matrix equation.By using the idea of Algorithm 2.1 in ZHANG(2013),a new inversion-free method with a stepsize parameter is proposed to ...In this paper,we consider the maximal positive definite solution of the nonlinear matrix equation.By using the idea of Algorithm 2.1 in ZHANG(2013),a new inversion-free method with a stepsize parameter is proposed to obtain the maximal positive definite solution of nonlinear matrix equation X+A^(*)X|^(-α)A=Q with the case 0<α≤1.Based on this method,a new iterative algorithm is developed,and its convergence proof is given.Finally,two numerical examples are provided to show the effectiveness of the proposed method.展开更多
In this paper,we define for the trace operator,the solution of certain models of vibrating plates standards with initial data in a strategic region spaces of weak regularities.Indeed,we know that the notion of regiona...In this paper,we define for the trace operator,the solution of certain models of vibrating plates standards with initial data in a strategic region spaces of weak regularities.Indeed,we know that the notion of regional controllability is more adapted to systems described by dynamic systems.Regional controllability results in a strategic area were established for vibrating plates by the Hilbertian Uniqueness Method.展开更多
Content Addressable Memory (CAM) is a type of memory used for high-speed search applications. Due to parallel comparison feature, the CAM memory leads to large power consumption which is caused by frequent pre-charge ...Content Addressable Memory (CAM) is a type of memory used for high-speed search applications. Due to parallel comparison feature, the CAM memory leads to large power consumption which is caused by frequent pre-charge or discharge of match line. In this paper, CAM for automatic charge balancing with self-control mechanism is proposed to control the voltage swing of ML for reducing the power consumption of CAM. Another technique to reduce the power dissipation is to use MSML, it combines the master-slave architecture with charge minimization technique. Unlike the conventional design, only one match line (ML) is used, whereas in Master-Slave Match Line (MSML) one master ML and several slave MLs are used to reduce the power dissipation in CAM caused by match lines (MLs). Theoretically, the match line (ML) reduces the power consumption up to 50% which is independent of search and match case. The simulation results using Cadence tool of MSML show the reduced power consumption in CAM and modified CAM cell.展开更多
A prototype of the master slave telerehabilitation robotic system with force feedback is developed. This system contains a pair of robots with the master being operated by the therapist and the slave following the mas...A prototype of the master slave telerehabilitation robotic system with force feedback is developed. This system contains a pair of robots with the master being operated by the therapist and the slave following the master to guide the patients to exercise. A slave device with a slave controller is designed to stretch and mobilize the impaired elbow joints accurately and safely. A master device with a master controller is designed to control/monitor the procedure of treatment and assess the outcome of treatment remotely and accurately. By using the twoport network theory and the circuit equivalent impedance models, the position-force control scheme is designed to generate force feedback for the therapist who is to be informed of the interaction force between the subject and the robot arm during exercise. Experiments were conducted with a healthy male. Results show that the therapist can guide the patient to exercise by the master arm and can feel the interaction forces between the impaired arm and the robot. Compared with the traditional therapy, this system is more cost-efficient, more convenient and safer for both the stroke patients and the clinicians.展开更多
This paper presents a new solution to haptic based teleoperation to control a large-sized slave robot for space exploration, which includes two specially designed haptic joysticks, a hybrid master-slave motion mapping...This paper presents a new solution to haptic based teleoperation to control a large-sized slave robot for space exploration, which includes two specially designed haptic joysticks, a hybrid master-slave motion mapping method, and a haptic feedback model rendering the operating resistance and the interactive feedback on the slave side. Two devices using the 3 R and DELTA mechanisms respectively are developed to be manipulated to control the position and orientation of a large-sized slave robot by using both of a user's two hands respectively. The hybrid motion mapping method combines rate control and variable scaled position mapping to realize accurate and efficient master-slave control. Haptic feedback for these two mapping modes is designed with emphasis on ergonomics to improve the immersion of haptic based teleoperation. A stiffness estimation method is used to calculate the contact stiffness on the slave side and play the contact force rendered by using a traditional spring-damping model to a user on the master side stably. Experiments by using virtual environments to simulate the slave side are conducted to validate the effectiveness and efficiency of the proposed solution.展开更多
Upon flaws of current blockchain platforms of heavyweight, large capacity of ledger, and time-consuming of synchronization of data, in this paper, we proposed a new paradigm of master-slave blockchain scheme(MSB) for ...Upon flaws of current blockchain platforms of heavyweight, large capacity of ledger, and time-consuming of synchronization of data, in this paper, we proposed a new paradigm of master-slave blockchain scheme(MSB) for pervasive computing that suitable for general PC, mobile device such as smart phones or PADs to participants in the working of mining and verification, in which we separated traditional blockchain model in 2 layer defined as master node layer and a series of slavery agents layer, then we proposed 2 approaches for partially computing model(PCM) and non-computing of model(NCM) in the MSB blockchain, Finally large amounts of simulations manifest the proposed master-slave blockchain scheme is feasible, extendible and suitable for pervasive computing especially in the 5 G generation environment, and can apply in the DRM-related applications.展开更多
The networked synchronization problem of a class of master-slave chaotic systems with time-varying communication topologies is investigated in this paper. Based on algebraic graph theory and matrix theory, a simple li...The networked synchronization problem of a class of master-slave chaotic systems with time-varying communication topologies is investigated in this paper. Based on algebraic graph theory and matrix theory, a simple linear state feedback controller is designed to synchronize the master chaotic system and the slave chaotic systems with a time- varying communication topology connection. The exponential stability of the closed-loop networked synchronization error system is guaranteed by applying Lyapunov stability theory. The derived novel criteria are in the form of linear matrix inequalities （LMIs）, which are easy to examine and tremendously reduce the computation burden from the feedback matrices. This paper provides an alternative networked secure communication scheme which can be extended conveniently. An illustrative example is given to demonstrate the effectiveness of the proposed networked synchronization method.展开更多
A 3 DOF master-slave telerobot system is established for study on force telepresence technology. A force feedback and position control scheme is adopted in the bilateral force response control system,and force fidelit...A 3 DOF master-slave telerobot system is established for study on force telepresence technology. A force feedback and position control scheme is adopted in the bilateral force response control system,and force fidelity and controllability experiments demonstrate feasibility of the con-trol system.展开更多
This paper proposes an adaptive synchronization problem for the master and slave structure of linear systems with nonlinear perturbations and mixed time-varying delays comprising different discrete and distributed tim...This paper proposes an adaptive synchronization problem for the master and slave structure of linear systems with nonlinear perturbations and mixed time-varying delays comprising different discrete and distributed time delays. Using an appropriate Lyapunov-Krasovskii functional, some delay-dependent sufficient conditions and an adaptation law including the master-slave parame- ters are established for designing a delayed synchronization law in terms of linear matrix inequalities（LMIs）. The time-varying controller guarantees the H ∞ synchronization of the two coupled master and slave systems regardless of their initial states. Particularly, it is shown that the synchronization speed can be controlled by adjusting the updated gain of the synchronization signal. Two numerical examples are given to demonstrate the effectiveness of the method.展开更多
Welding seam tracking precision was decreased due to human hand tremor during the master-slave welding teleoperation. To solve this problem, a master-slave robot remote welding system was built, the system consisted o...Welding seam tracking precision was decreased due to human hand tremor during the master-slave welding teleoperation. To solve this problem, a master-slave robot remote welding system was built, the system consisted of a master manipulator with six degree of freedom （ DOF ） , an industrial computer control system and a slave Motoman HP3 J robot, and human hand tremor and digital filtering were discussed. An optimal digital filter was designed to clean human tremor signal for improving the welding seam tracking precision. The experimental results show that the digital filter suppresses the operator＇ s tremor signal.展开更多
文摘This paper investigates the problem of cluster synchronization of master-slave complex net-works with time-varying delay via linear and adaptive feedback pinning controls.We need not non-delayed and delayed coupling matrices to be symmetric or irreducible.We have the advantages of using adaptive control method to reduce control gain and pinning control technology to reduce cost.By con-structing Lyapunov function,some sufficient synchronization criteria are established.Finally,numerical examples are employed to illustrate the effectiveness of the proposed approach.
基金supported by the National Basic Research Program of China ("973" Project) (Grant No. 2009CB219700)the National Natural Science Foundation of China (Grant No. 50837001)
文摘This paper proposes a control strategy that can realize seamless microgrid operation mode transition between grid-connected operation and stand-alone operation.The scenario of a microgrid based on master-slave control is considered,where the master distributed generation(DG) unit operates in different control schemes in different microgrid operation modes,while other slave DG units operate with power/current control all the time.The proposed control strategy focuses on the master DG unit,and contains the control state/reference compensation algorithm and separation switch control logic.The proposed method can effectively reduce the impact on the critical loads and DG units caused by microgrid operation mode transitions.
基金supported by the Key Project of Chinese Ministry of Education(108037)the National Natural Science Foundation of China(10402008 and 50535010)
文摘This paper addresses a master-slave synchro- nization strategy for complex dynamic systems based on feedback control. This strategy is applied to 3-DOF pla- nar manipulators in order to obtain synchronization in such complicated as chaotic motions of end-effectors. A chaotic curve is selected from Duffing equation as the trajectory of master end-effector and a piecewise approximation method is proposed to accurately represent this chaotic trajectory of end-effectors. The dynamical equations of master-slave manipulators with synchronization controller are derived, and the Lyapunov stability theory is used to determine the stability of this controlled synchronization system. In numer- ical experiments, the synchronous motions of end-effectors as well as three joint angles and torques of master-slave manipulators are studied under the control of the proposed synchronization strategy. It is found that the positive gain matrix affects the implementation of synchronization con- trol strategy. This synchronization control strategy proves the synchronization＇s feasibility and controllability for com- plicated motions generated by master-slave manipulators.
基金supported in part by National Natural Science Foundation of China(62203127)Basic and Applied Basic Research Project of Guangzhou City(2023A04J1712)+1 种基金The Foshan-HKUST Projects Program(FSUST19-FYTRI01)GDAS’Project of Science and Technology Development(2020GDASYL-20200202001).
文摘As a key component of injection molding,multi-cavity hot runner(MCHR)system faces the crucial problem of polymer melt filling imbalance among the cavities.The thermal imbalance in the system has been considered as the leading cause.Hence,the solution may rest with the synchronization of those heating processes in MCHR system.This paper proposes a’Master-Slave’generalized predictive synchronization control(MS-GPSC)method with’Mr.Slowest’strategy for preheating stage of MCHR system.The core of the proposed method is choosing the heating process with slowest dynamics as the’Master’to track the setpoint,while the other heating processes are treated as‘Slaves’tracking the output of’Master’.This proposed method is shown to have the good ability of temperature synchronization.The corresponding analysis is conducted on parameters tuning and stability,simulations and experiments show the strategy is effective.
文摘In this article, a synchronization problem for master-slave Markovian switching complex dynamical networks with time-varying delays in nonlinear function via sliding mode control is investigated. On the basis of the appropriate Lyapunov-Krasovskii functional, introducing some free weighting matrices, new synchronization criteria are derived in terms of linear matrix inequalities （LMIs）. Then, an integral sliding surface is designed to guarantee synchronization of master-slave Markovian switching complex dynamical networks, and the suitable controller is synthesized to ensure that the trajectory of the closed-loop error system can be driven onto the prescribed sliding mode surface. By using Dynkin＇s formula, we established the stochastic stablity of master-slave system. Finally, numerical example is provided to demonstrate the effectiveness of the obtained theoretical results.
基金Supported by the National Natural Science Foundation of China under Grant Nos.60774039,60974024,and 61074089CityU Research Enhancement Fund 9360127,CityU SRG 7002355
文摘This paper concerns with the master-slave exponential synchronization analysis for a class of general Lur'esystems with time delay.Different from the previous methods based on the differential inequality technique, a newapproach is proposed to derive some new exponential synchronization criteria.The restriction that the control widthhas to be larger than the time delay is removed.This leads to a larger application scope for our method.Moreover, notranscendental equation is involved in the obtained result, which reduces the computational burden.Two examples aregiven to validate the theoretical results.
文摘Aiming at the weaknesses of LON bus, combining the coexistence of fieldbus and DCS (Distribu ted Control Systems) in control networks, the authors introduce a hierarchical hybrid control network design based on LON and master slave RS 422/485 protocol. This design adopts LON as the trunk, master slave RS 422/485 control networks are connected to LON as special subnets by dedicated gateways. It is an implementation method for isomerous control network integration. Data management is ranked according to real time requirements for different network data. The core components, such as control network nodes, router and gateway, are detailed in the paper. The design utilizes both communication advantage of LonWorks technology and the more powerful control ability of universal MCUs or PLCs, thus it greatly increases system response speed and performance cost ratio.
基金study was supported by the National Key Research and Development Program of China(Grant No.2023YFC2907202)the National Natural Science Foundation of China(Grant No.52404116)the Postdoctoral Fellowship Program of CPSF(Grant No.GZB20240129).
文摘In this paper,a self-developed master-slave follow-up disc cutter is used to conduct rock-breaking tests on hard sandstone samples.Different working parameters were employed in the tests(e.g.cutting depth,cutting speed,cutting angle,and rotational speed)in order to explore their influences on cutting performance.The results indicate that the thrust,torque,vibration velocity,and roughness all increased continuously with increase of the propulsion speed and cutting depth.At the same time,the specific energy consumption was found to decrease continuously.As the rotational speed was increased,the thrust increased at first and then decreased.In contrast,the torque and roughness continuously decreased,and the specific energy consumption and vibration speed continuously increased.When the cutting angle was increased,the thrust remained unchanged.However,the torque,specific energy consumption,and vibration speed all decreased continuously,and the roughness increased continuously.The temperature of the surface of the cutting tool was found to be relatively uniformly distributed during the rock-breaking process;the highest temperatures generated were in the range of 200-300℃.As the propulsion speed,cutting depth,and cutting angle were increased,the proportion of tensile fractures produced appeared to increase and the proportion of shear fractures decreased.As the rotational speed was increased,the proportion of tensile fractures decreased and the proportion of shear fractures increased.The results could provide useful information on the rock-breaking behavior involved and can be used to offer technical support for engineers using master-slave follow-up disc cutters in the field.
基金financial support from the National Natural Science Foundation of China(Nos.12072196 and 11702172)Science and Technology Commission of Shanghai Municipality(No.19JC1412900)+1 种基金Aeronautics Power Foundation(No.6141B09050393)Key Laboratory of Aerodynamic Noise Control(No.ANCL20190106)extended to this study。
文摘The fluidic oscillator is an instrument that can continuously generate a spatially sweeping jet entirely based on its internal geometry without any moving parts.However,the traditional fluidic oscillator has an inherent limitation,that is,the spreading angle cannot be controlled independently,rather by the jet volume flow rate and internal geometry.Accordingly,two types of fluidic oscillators based on the master-slave design are developed in current study to decouple this correlation.In both designs,the master layer inherits the similar oscillation mechanisms of a sweeping jet,and the slave layer resembles a steady jet channel.The difference between the two designs is that Design A has a short diverging exit in the slave layer,but Design B adds a long interaction chamber in the exit channel to intensify flow instability.The external flow fields and governing oscillation properties of these two designs are experimentally explored with time-resolved Particle Image Velocimetry(PIV),while the internal flow dynamics and driving oscillation mechanisms are numerically investigated.By fixing the total volume flow rate,the jet spreading angle of Design A can be increased smoothly from 0°to above 100°by increasing the proportion of master layer’s flow rate from 0 to 100%.For Design B,the control authority of the master layer is significantly enhanced by adding the interaction chamber in the slave layer.In addition,the added chamber causes notable jet oscillation even when the master layer has none input.
基金Supported in part by Natural Science Foundation of Guangxi(2023GXNSFAA026246)in part by the Central Government's Guide to Local Science and Technology Development Fund(GuikeZY23055044)in part by the National Natural Science Foundation of China(62363003)。
文摘In this paper,we consider the maximal positive definite solution of the nonlinear matrix equation.By using the idea of Algorithm 2.1 in ZHANG(2013),a new inversion-free method with a stepsize parameter is proposed to obtain the maximal positive definite solution of nonlinear matrix equation X+A^(*)X|^(-α)A=Q with the case 0<α≤1.Based on this method,a new iterative algorithm is developed,and its convergence proof is given.Finally,two numerical examples are provided to show the effectiveness of the proposed method.
文摘In this paper,we define for the trace operator,the solution of certain models of vibrating plates standards with initial data in a strategic region spaces of weak regularities.Indeed,we know that the notion of regional controllability is more adapted to systems described by dynamic systems.Regional controllability results in a strategic area were established for vibrating plates by the Hilbertian Uniqueness Method.
文摘Content Addressable Memory (CAM) is a type of memory used for high-speed search applications. Due to parallel comparison feature, the CAM memory leads to large power consumption which is caused by frequent pre-charge or discharge of match line. In this paper, CAM for automatic charge balancing with self-control mechanism is proposed to control the voltage swing of ML for reducing the power consumption of CAM. Another technique to reduce the power dissipation is to use MSML, it combines the master-slave architecture with charge minimization technique. Unlike the conventional design, only one match line (ML) is used, whereas in Master-Slave Match Line (MSML) one master ML and several slave MLs are used to reduce the power dissipation in CAM caused by match lines (MLs). Theoretically, the match line (ML) reduces the power consumption up to 50% which is independent of search and match case. The simulation results using Cadence tool of MSML show the reduced power consumption in CAM and modified CAM cell.
基金The National Natural Science Foundation of China(No.60475034).
文摘A prototype of the master slave telerehabilitation robotic system with force feedback is developed. This system contains a pair of robots with the master being operated by the therapist and the slave following the master to guide the patients to exercise. A slave device with a slave controller is designed to stretch and mobilize the impaired elbow joints accurately and safely. A master device with a master controller is designed to control/monitor the procedure of treatment and assess the outcome of treatment remotely and accurately. By using the twoport network theory and the circuit equivalent impedance models, the position-force control scheme is designed to generate force feedback for the therapist who is to be informed of the interaction force between the subject and the robot arm during exercise. Experiments were conducted with a healthy male. Results show that the therapist can guide the patient to exercise by the master arm and can feel the interaction forces between the impaired arm and the robot. Compared with the traditional therapy, this system is more cost-efficient, more convenient and safer for both the stroke patients and the clinicians.
基金supported by the Open Research Fund of Key Laboratory of Space Utilization,Chinese Academy of Sciences(No.LSU-YKZX-2017-02)
文摘This paper presents a new solution to haptic based teleoperation to control a large-sized slave robot for space exploration, which includes two specially designed haptic joysticks, a hybrid master-slave motion mapping method, and a haptic feedback model rendering the operating resistance and the interactive feedback on the slave side. Two devices using the 3 R and DELTA mechanisms respectively are developed to be manipulated to control the position and orientation of a large-sized slave robot by using both of a user's two hands respectively. The hybrid motion mapping method combines rate control and variable scaled position mapping to realize accurate and efficient master-slave control. Haptic feedback for these two mapping modes is designed with emphasis on ergonomics to improve the immersion of haptic based teleoperation. A stiffness estimation method is used to calculate the contact stiffness on the slave side and play the contact force rendered by using a traditional spring-damping model to a user on the master side stably. Experiments by using virtual environments to simulate the slave side are conducted to validate the effectiveness and efficiency of the proposed solution.
基金supported by the National Natural Science Foundation of China under Grant 61272519the Research Funds of Blockchain Joint Lab between BUPT and BCTthe joint Blockchain and Security Lab between BUPT and CAPSTONE
文摘Upon flaws of current blockchain platforms of heavyweight, large capacity of ledger, and time-consuming of synchronization of data, in this paper, we proposed a new paradigm of master-slave blockchain scheme(MSB) for pervasive computing that suitable for general PC, mobile device such as smart phones or PADs to participants in the working of mining and verification, in which we separated traditional blockchain model in 2 layer defined as master node layer and a series of slavery agents layer, then we proposed 2 approaches for partially computing model(PCM) and non-computing of model(NCM) in the MSB blockchain, Finally large amounts of simulations manifest the proposed master-slave blockchain scheme is feasible, extendible and suitable for pervasive computing especially in the 5 G generation environment, and can apply in the DRM-related applications.
基金supported by the National Natural Science Foundation of China (Grant Nos. 60904046, 60972164, 60974071, and 60804006)the Special Fund for Basic Scientific Research of Central Colleges, Northeastern University, China (Grant No. 090604005)+2 种基金the Science and Technology Program of Shenyang (Grant No. F11-264-1-70)the Program for Liaoning Excellent Talents in University (Grant No. LJQ2011137)the Program for Liaoning Innovative Research Team in University (Grant No. LT2011019)
文摘The networked synchronization problem of a class of master-slave chaotic systems with time-varying communication topologies is investigated in this paper. Based on algebraic graph theory and matrix theory, a simple linear state feedback controller is designed to synchronize the master chaotic system and the slave chaotic systems with a time- varying communication topology connection. The exponential stability of the closed-loop networked synchronization error system is guaranteed by applying Lyapunov stability theory. The derived novel criteria are in the form of linear matrix inequalities （LMIs）, which are easy to examine and tremendously reduce the computation burden from the feedback matrices. This paper provides an alternative networked secure communication scheme which can be extended conveniently. An illustrative example is given to demonstrate the effectiveness of the proposed networked synchronization method.
文摘A 3 DOF master-slave telerobot system is established for study on force telepresence technology. A force feedback and position control scheme is adopted in the bilateral force response control system,and force fidelity and controllability experiments demonstrate feasibility of the con-trol system.
文摘This paper proposes an adaptive synchronization problem for the master and slave structure of linear systems with nonlinear perturbations and mixed time-varying delays comprising different discrete and distributed time delays. Using an appropriate Lyapunov-Krasovskii functional, some delay-dependent sufficient conditions and an adaptation law including the master-slave parame- ters are established for designing a delayed synchronization law in terms of linear matrix inequalities（LMIs）. The time-varying controller guarantees the H ∞ synchronization of the two coupled master and slave systems regardless of their initial states. Particularly, it is shown that the synchronization speed can be controlled by adjusting the updated gain of the synchronization signal. Two numerical examples are given to demonstrate the effectiveness of the method.
基金This research is supported by National Natural Science Foundation of China （No. 50905043）.
文摘Welding seam tracking precision was decreased due to human hand tremor during the master-slave welding teleoperation. To solve this problem, a master-slave robot remote welding system was built, the system consisted of a master manipulator with six degree of freedom （ DOF ） , an industrial computer control system and a slave Motoman HP3 J robot, and human hand tremor and digital filtering were discussed. An optimal digital filter was designed to clean human tremor signal for improving the welding seam tracking precision. The experimental results show that the digital filter suppresses the operator＇ s tremor signal.
