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Traditionally, control algorithms are designed without a consideration of their real-time implementation details. The performance of a digital control system, besides the sampling period, depends on many variables, such as the control loop execution time, jitter, complexity of the control algorithm etc. In this paper attention is focused on the inter-action of the parameters of the scheduled tasks...
Component-based software architecture is presented to support the process of designing and developing fault-tolerant computerised control systems. To this end, we combine an idealised fault-tolerant component, the C2 architecture style and protective wrappers, and embed fault tolerance techniques into component definitions. The resulting architecture is described by normal- and abnormal-activity components...
Due to the heavily software-centric nature of modern reactive and time-critical systems, there is an increasing demand for efficient development of high quality Real-Time Software-Intensive Control systems (RSIC). The study discussed in this paper is focused on the creation of international curriculum framework centred on RSIC - this important aspect of computer-system-control-software engineering...
This paper deals with real-time task jitter measurement under RTLinux operating system. In the first part, it describes methods and tools developed to measure jitter in the RTLinux environment. In the second part, it is focused on discussion of results, obtained on PC hardware, and their interpretation.
This paper studies dependability of software implementation of DMC (Dynamic Matrix Control) and GPC (Generalised Predictive Control) Model Predictive Control (MPC) algorithms. Explicit formulation of algorithms is considered in which the control laws are calculated off-line. Dependability is evaluated using software implemented fault injection approach. Tests are performed in the control system of...
Free-electron laser FLASH (260-meter-long machine) is a pilot facility for the forthcoming XFEL (3 km). Along with growth of the experiment, service and maintenance are becoming so complex that certain degree of automation seems to be inevitable. The main purpose of the automation software is to facilitate operators with computer-aided supervision of several hardware/software subsystems. The efforts...
A new approach for design and implementation of urban vehicle control system is proposed. The vehicle streams on lanes are considered similar with the streams of instructions in multitask programs. Real-time scheduling algorithms are used to allocate the green lights to phases. An adaptive component is used to calculate new vehicle flow parameters when a failure appears as a consequence of an accident...
Verilog is one of the two most popular high-level hardware description languages. Many libraries of useful designs, such as communication protocols and compression algorithms, are available in Verilog. These designs could be useful to designers of real-time and reactive systems if they could be translated into the languages used for such designs. Synchronous languages are particularly useful for describing...
A new class of fractional linear continuous-time linear systems described by the state equation is introduced. The solution to the state equations is derived using the Laplace transform. Necessary and sufficient conditions are established for the internal and external positivity of the fractional systems. Sufficient conditions are given for the reachability of the fractional positive systems.
The paper considers the stability problem of linear time-invariant continuous-time systems of fractional commensurate order. It is shown that the system is stable if and only if plot of rational function of fractional order, called as the generalised modified Mikhailov plot, and does not encircle the origin of the complex plane. The considerations are illustrated by numerical examples.
A dynamical system described by homogeneous equation is called pointwise complete if every final state can be reached by suitable choice of the initial state. The system which is not pointwise complete is called pointwise degenerated. Definitions and necessary and sufficient conditions for the pointwise completeness and the pointwise degeneracy of continuous-time linear systems of fractional order,...
Hybrid systems involve the interaction of discrete and continuous dynamics. Hybrid systems have been used as a mathematical model for many safety critical applications. One of the most important analysis problems of hybrid systems is the reachability problem. In this paper we argue that the proof assistant Coq can be used for the hybrid systems verification. An example of a train crossing control...
This paper proposed an I/Q imbalance compensation algorithm based on neural networks, suitable for low-IF receivers. First, the low-IF receiver architecture and the phenomena of I/Q imbalance (also referred as image interference) are described. The standard solution - using a complex LMS adaptive filter, which separates the desired, and image signals - is limited in that the recovered signal remains...
Thermal insulation plays a key role in the overall energy management picture. It is interesting to consider that by using the insulation, the entire energy requirements of a system are reduced. Since, the main function of insulation is to reduce the heat transfer, the insulation material must have the appropriate characteristic to retard the transport of heat occurred by conduction, convection and...
A linear Support Vector machine classifier is proposed in this paper. In such SVM architectures based on multiplying laws the main building blocks are multipliers. We propose in this paper multiplying and weighting cells, developed by using a model consisting of a compound of two inverse non-linear functions. This procedure is suitable for VLSI implementation because it permits the use of simple nonlinearized...
A new localization approach to increase the navigational capabilities and object manipulation of autonomous mobile robots, based on an encoded infrared sheet of light beacon system, which provides position errors smaller than 0.02m is presented in this paper. To achieve this minimal position error, a resolution enhancement technique has been developed by utilising an inbuilt odometric/optical flow...
Nowadays, the design of industrial vehicles and movable cars is based on the automation of their different tasks, which are currently handled by humans. These tasks, such as maneuvering robots in complex environments, require high level of precision that cannot be guaranteed by humans. Manual operations are likely to produce errors of computation and optimization of navigation and manoeuvre (left,...
Path planning is one of the most vital problems in mobile robotics; it falls into general province of planning, however, due to specificity of the subject of mobile robotics, it has emerged as a discipline per se with its own solutions. Among many methods of probabilistic, geometrical and topological nature, the methodology of potential fields introduced by Krogh (1984) and Khatib (1985), based on...
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