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The real-time estimation of road utilization adhesion coefficient is an important issue for the ASR (Anti-Slip Regulation) system of electric wheel independent drive vehicle. Firstly, the 1/4 vehicle dynamics model was built based on the LuGre tire model. Then combined with wheel angular velocity information, the exponential approach law-based sliding mode observer for the road utilization adhesion...
Monitoring and measuring the dynamic changes of the traffic patterns are important for network management. In this paper, we propose the bidirectional flow model to aggregate the traffic packets, which is more efficacious to reflect the alternation character of the users. Then we select the one order and second order connection degree to capture the characteristic of the traffic patterns. The K-L...
The Kuka light weight robot offers unique features to researchers. Besides its 7 Degrees of Freedom (DOF), also torque sensing in every joint and a variety of compliance modes make the robot a good choice for robotic research. Unfortunately the interface to control the robot externally has its restrictions. In this paper, we present an open source solution (OpenKC) that will allow the control of the...
Dynamic route guidance is one of the focal and difficult problems in Intelligent Transportation System(ITS). For the Dijkstra algorithm is difficult to meet the real-time requirement of the dynamic route guidance system, this paper proposes a threshold-based restricted searching area algorithm in the dynamic route guidance system. This algorithm, applied to the complicated urban road network model,...
1553B bus node needs to be converted for the data transfer of other buses. Gigabit Ethernet is built on the Ethernet standard technology. It has the advantages of fast communications, strong adaptability, so it can serve as a 1553B bus data transmission channel. The 1553B bus protocol is introduced and analyzed, including data link layer, physical layer, and functional analysis. In the system designing,...
According to the different demand on realtime of periodic and non-periodic data, the improved real time communication protocol CSMA/NT is presented with node transfer based on non-destroyed priority bit-by-bit arbitration. The performance analysis shows that it decreases the probability of data collision effectively, ensures a limited transmission time and makes maximum delay time adjustable, leads...
According to the characteristics of data in coalmine industrial Ethernet ring networks and in order to guarantee the demand of the real-time data in it, a hybrid scheduling method with non-preemptive priority and EDF scheduling method based on the IEEE802.1p protocol is proposed in the switch. We calculate the maximum transmitting delay of the real-time data using network calculus theory. The result...
Using advanced computer information technology and power system, Real-time Environment Protecting Supervision and Control System (REPSCS) of heavy loads in the Inner Mongolia Electric Power Grid is studied. REPSCS can monitor the operation of the heavy load companies' main equipment and environmental protection electrical equipment. The operation data of those key equipment are collected, processed,...
Real-time Ethernet emerges as the primary supporting technology for the next generation of industrial communications. As real-time performance is critical in many industrial applications, how to evaluate it in industrial Ethernet becomes vitally important. In this paper a mathematical model using Network Calculus is presented to calculate the upper bound of end-to-end delay in hybrid networks.
To address the problems of network congestion, Active queue management (AQM) is advocated to improve the quality of services (QoS) for Internet. Random early detective (RED) algorithm is one of notably AQM mechanism, because it could reduce the high drop rate of bursty flows, avoid global synchronization among flows and reduces network latency (“ping time”). However, RED requires careful tuning of...
To solve the problem that a single processor cannot afford the computational load of the key algorithms in conventional CNC system, a network architecture based on RTnet is proposed in this paper. A resource-consumption and low coupling module in CNC was disjoint first from other modules. RTnet was used for communication between remote modules. Then, by means of Linux Real Time mechanism (LXRT), real-time...
Shaking table is widely used in aerospace, automobile and architecture for research in the fields of Civil, Mechanical and Electrical Engineering. Three variable controller is applied for an electro-hydraulic servo shaking table which has eight sets of hydraulic system and is under acceleration control. To achieve real-time control performance for the shaking table system, XPC-based control system...
A feedback procedure is introduced to the robust berth allocation problem with stochastic vessel delays. This procedure emphasizes the interrelationship between the planning stage and the real-time stage, and employs the cost of schedule changes in the real-time stage to instruct time buffer adjustment for each vessel. Experimental results show that this procedure performs well in different vessel...
The continuous casting process in the steelmaking chain is a complex and critical process composed of many subsystems and development of an integral monitoring and control system without mapping functional complexity into architectural complexity is a design challenge in the coupled domains of steelmaking and systems engineering. This paper describes certain novel features of the design and engineering...
There is an increasing interest in studying quantized control systems with multiple sensors and actuators distributed for wired and wireless networks. In this paper, we formulate a real-time scheduling problem with bandwidth constraints from quantization control perspective and develop a quantization real-time scheduling scheme for networked and quantized control systems of multi-tasks linear dynamical...
According to the stability problem of wire extension in aluminum alloy pulsed MIG welding, a rapid prototyping control platform using the xPC real-time target environment based on the sliding mode control theory was established, and then the real-time control on wire extension in aluminum alloy pulsed MIG welding was carry out with sliding mode controller. The results show that the sliding mode controller...
Dynamic schedule strategies can bring higher resource utilization of network then static ones, while techniques such as least slack time first (LSF) and earliest deadline first(EDF) scheduling can hardly be applied to CAN bus because the scope of deadline of CAN bus messages are too large while the bit sizes in CAN frame identifier is limited, and it is difficult to guarantee strict time synchronization...
An extended framework of discrete event systems with continuous-time variable is considered. The controllability and TLm(Gt)-closeness of timed languages, which are extended concepts of the conventional ones, are presented to show the necessary and sufficient conditions for the existences of nonblocking and robust nonblocking supervisors.
In this study, a two-level scheme with robust dynamic real-time optimization and distributed model predictive control (DMPC) is presented for plant-wide processes. On the top layer, chance-constrained programming (CCP) is employed in the real-time optimization with economic and model uncertainties, in which the constraints containing stochastic parameters are guaranteed to be satisfied at a high level...
A continuous process for refining high purity acetonitrile synthesized by dimethyl sulphate and sodium cyanide was designed, and the advanced computer monitoring technology and intelligent control technology were used to monitor and control this process in real time. The continuous process resolved the difficulties of low product purity and yield efficiently by using some distillation techniques,...
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