Self-organization of Reconfigurable Protocol Stack for Networked Control Systems

In networked control systems （NCS）,the control performance depends on not only the control algorithm but also the communication protocol stack.The performance degradation introduced by the heterogeneous and dynamic communication environment has intensified the need for the reconfigurable protocol stack.In this paper,a novel architecture for the reconfigurable protocol stack is proposed,which is a unified specification of the protocol components and service interfaces supporting both static and dynamic reconfiguration for existing industrial communication standards.Within the architecture,a triple-level self-organization structure is designed to manage the dynamic reconfiguration procedure based on information exchanges inside and outside the protocol stack.Especially,the protocol stack can be self-adaptive to various environment and system requirements through the reconfiguration of working mode,routing and scheduling table.Finally,the study on the protocol of dynamic address management is conducted for the system of controller area network （CAN）.The results show the efficiency of our self-organizing architecture for the implementation of a reconfigurable protocol stack.

Modeling and Implementation of a Highly Efficient Solar-Powered Storage Installation through Self-Reconfigurable Batteries

Self-reconfigurable batteries represent a new and promising technique of electrochemical storage. The application of self-reconfigurable batteries can resolve the challenge of efficient renewable storage in solar-powered installations. In this paper, the problem of solar panel’s Maximum Power Point (MPP) tracking utilizing self-reconfigurable batteries is explored through modeling. The efficiency of energy storage is improved by removing the intervening DC/DC converter, which is usually necessary for solar PV applications. To make such a system functional, a Switching Battery Management System (SBMS) is proposed instead of a traditional couple of DC/DC converter and usual BMS. This system allows the series connection of multiple battery modules of different sizes, States-of-Charge (SoC), and States-of-Health (SoH). Two main challenges arise by the proposed implementation: tracking MPP of solar panels through battery cell switching and maintaining an equal (balanced) SoC of the separate cells/modules. The theoretical investigation includes developing the distinct software parts: digital twins of the battery module and solar PV modules that interact with the SBMS and the algorithm according to which the proposed SBMS will operate. The SBMS algorithm, based on sorting the battery cells according to their SoC, resolves both challenges. Having this promising theoretical starting point, a working prototype was developed. The prototype worked as expected and was tested under field conditions, being integrated into the power grid as part of a virtual power plant.

SELF-RECONFIGURATION OF UNDERACTUATED REDUNDANT MANIPULATORS WITH OPTIMIZING THE FLEXIBILITY ELLIPSOID

The multi-modes feature, the measure of the manipulating flexibility, andself-reconfiguration control method of the underactuated redundant manipulators are investigatedbased on the optimizing technology. The relationship between the configuration of the joint spaceand the manipulating flexibility of the underactuated redundant manipulator is analyzed, a newmeasure of manipulating flexibility ellipsoid for the underactuated redundant manipulator withpassive joints in locked mode is proposed, which can be used to get the optimal configuration forthe realization of the self-reconfiguration control. Furthermore, a time-varying nonlinear controlmethod based on harmonic inputs is suggested for fulfilling the self-reconfiguration. A simulationexample of a three-DOFs underactuated manipulator with one passive joint features some aspects ofthe investigations.

Optimization of Planar Five-bar Parallel Mechanism via Self-reconfiguration Method

The parallel mechanisms have the disadvantage of small workspace and complication in kinematics and dynamics. An optimizing design for the parallel mechanisms can improve the motion performance relatively, but not guarantee the design results which satisfy the various practical requirements simultaneously. In this paper, a dynamical and optimal synthesis method is proposed for parallel mechanisms based on the dynamical reconfiguration technique. As a specific, application, the problem of optimizing the kinematics isotropy of a five-bar planar parallel mechanism is studied. The motion of a reconfigurable mechanism can be parted into two phases, the natural motion phase and the reconfiguration phase. The two motion phases can be studied by the same performance evaluation methodology. This points out from both theory and practices a novel method for improving the motion performance of the parallel mechanisms. Simulation by a symmetrical five-bar planar parallel manipulator shows some aspects of the investigations.

RF MEMS Based Reconfigurable Rectangular Slotted Self Similar Antenna

Wireless communication systems which require flexibility and reconfigurability in antenna systems faces main problems like antenna performance, size, weight and cost. A wide band Frequency Reconfigurable Rectangular Slotted Self Similar Antenna has been proposed in this paper. The rectangular slotted patch is repeated for two iterations at different scales and is separated by means of Radio Frequency Micro Electro Mechanical Systems (RF MEMS) switches in order to provide reconfigurability. The antenna can operate in three frequency bandsi.e. K-band, Ku-band and Ka-band by altering the states of RF MEMS switches. To avoid fringing effects and to improve antenna performance, quarter wavelength (λ/4) spacing is required between the antenna and the ground plane. However, a Reconfigurable Antenna requires different λ/4 spacing which is difficult to achieve using a common ground plane. So the Frequency Reconfigurable antenna is integrated with high impedance surface (HIS) like Electronic Band Gap (EBG) structures to suppress standing waves and surface waves with a unified profile thickness of 1.75 mm. The overall dimension of the proposed antenna along with RF MEMS Switch, feed element and HIS is about 8 mm × 8 mm × 1.75 mm. The simulated results of the proposed antenna reveal enhancement in antennas performance like Voltage Standing Wave Ratio (VSWR), Front to Back Ratio (FBR) and bandwidth when it is placed over HIS EBG. Also the radiation patterns of the proposed antenna when placed over EBG shows the suppression of side lobe and backward radiation.

Parameter Self - Learning of Generalized Predictive Control Using BP Neural Network

This paper describes the self—adjustment of some tuning-knobs of the generalized predictive controller(GPC).A three feedforward neural network was utilized to on line learn two key tuning-knobs of GPC,and BP algorithm was used for the training of the linking-weights of the neural network.Hence it gets rid of the difficulty of choosing these tuning-knobs manually and provides easier condition for the wide applications of GPC on industrial plants.Simulation results illustrated the effectiveness of the method.

Self - Crosslinking Behavior of Self - Emulsion Water - Based Polyure-thane Coating Agents

The relation between structures and properties of polyurethane are investigated by modern physical and chemical methods.The results obtained are as follows:the effects of the content of self-crosslinking agent on the properties of polyurethane,i.e.,dispersion stability,dynamical viscoelasticity and mechanical properties are discussed.It is found that the optimum molar ratio of epichlorohydrin and diethylenetriamine is 1:2.A mois-

Culture Self- Consciousness in Transmission of Chinese Philosophy from the Perspective of English Globalization -- Taking the Belt and Road Initiative for Example

The Belt and Road Initiative contains the aspiration of Chinese nation to pursue ideological freedom and desire of strengthening international exchanges and cooperation. This paper takes the Belt and Road Initiative for example,emphasizing the interpretation of the inheritance and development of Chinese culture so as to study the importance of Culture Self-Consciousness in Chinese Philosophy,in the context of English globalization. That is to say,this paper stresses the spirits and the stand of nation 's demonstration on pursuing peace,cooperation and sustainable development in the civilization continuity from traditional China to the contemporary China,with practical philosophic view.

AVAILABILITY MODEL FOR SELF TEST AND REPAIR IN FAULT TOLERANT FPGA-BASED SYSTEMS

Dynamically reconfigurable Field Programmable Gate Array(dr-FPGA) based electronic systems on board mission-critical systems are highly susceptible to radiation induced hazards that may lead to faults in the logic or in the configuration memory. The aim of our research is to characterize self-test and repair processes in Fault Tolerant(FT) dr-FPGA systems in the presence of environmental faults and explore their interrelationships. We develop a Continuous Time Markov Chain(CTMC) model that captures the high level fail-repair processes on a dr-FPGA with periodic online Built-In Self-Test(BIST) and scrubbing to detect and repair faults with minimum latency. Simulation results reveal that given an average fault interval of 36 s, an optimum self-test interval of 48.3 s drives the system to spend 13% of its time in self-tests, remain in safe working states for 76% of its time and face risky fault-prone states for only 7% of its time. Further, we demonstrate that a well-tuned repair strategy boosts overall system availability, minimizes the occurrence of unsafe states, and accommodates a larger range of fault rates within which the system availability remains stable within 10% of its maximum level.

基于动态自重构结构的3D-HEVC帧内预测算法并行化实现

3D高效视频编码3D-HEVC中帧内预测算法在专用硬件上的实现具有一定的局限性,无法满足帧内预测算法多种模式灵活自主切换的需求,导致编码性能差,硬件资源利用率不高。针对这一问题,提出一种新的3D-HEVC帧内预测算法在可编程动态自重构阵列处理器上的实现方法,该方法基于动态自重构机制,通过可编程控制器实时收集阵列执行状态,监测到阵列对当前任务执行结束后自主下发新的执行任务。通过对不同预测模式映射方案的硬件自主重构,实现算法的灵活切换。实验结果表明,与相关工作相比,该方法在提高灵活性的同时,硬件资源减少了49.1%,计算延迟减少了29.2%。将测试序列经过整个帧内环路测试,测试结果显示,图像质量良好。

一种基于Peer-to-Peer技术的Web缓存共享系统研究

提出了一种基于 peer to peer技术的分布式Web缓存共享系统:BuddyWeb.该系统的核心理念是让企业网络中的所有PC能够相互共享浏览器中的本地缓存,从而形成一个高效的、大规模的分布式缓存共享系统,并使系统具备易管理、易实现、低成本等优点;接着详细阐述了 BuddyWeb的工作原理和算法策略;然后,针对 Buddy Web系统的特性提出了仿真实验模型和评估方法.实验结果证明了BuddyWeb在命中率、网络通信流量负荷、系统响应延迟等诸方面均能取得令人满意的效果.

M-Cubes自重构机器人对接过程的变形分析

给出了M-Cubes自重构模块的实物模型,介绍了该实物模型的机械结构及对接特点;根据实物模型的特征用有限元对单个模块进行了建模。模块在对接及运动过程中,受外界因素的影响,会发生变形,采用有限元对模块进行了变形分析。通过对变形结果的分析,提出了模块可靠、有效、正确对接所遵循的必要条件,为M-Cubes机器人系统能成功地完成自重构运动提供了有效的指导。

可重构液压自伺服机器人关节D-H参数库建立与运动学分析

提出了一种利用迭代法求解可重构液压自伺服机器人逆解的方法。对可重构液压自伺服机器人关节做了定义,得出了相邻两动力模块较优连接方式表;探讨了3个动力模块之间的连接方式,建立了D-H参数库一,再根据动力模块与末端执行器之间的连接方式建立了D-H参数库二;介绍了机械臂数学模型,并选定了一种构型,根据该构型便可确定与其相对应的D-H参数,并得到了该构型的正运动学方程组;最后通过迭代法求得了可重构液压自伺服机器人逆解,并利用ADAMS软件验证了逆解的可行性。仿真结果表明:利用迭代法求可重构液压自伺服机器人运动学逆解是切实可行的,且迭代法适用于任何构型求逆解。

P2P环境下数据管理系统上的Top-k查询

目前大多数P2P系统只提供文件的共享,缺乏数据管理能力。基于关系数据库上的关键搜索,本文提出了一种在P2P环境下共享数据库的新框架,其中每个节点上的数据库被看成是一个文档集,用户不用考虑数据库的模式结构信念,简化了不同节点数据库模式间的映射过程,能更好地适应P2P的分散和动态特性。将基于直方图的分层Top-k查询算法扩展到P2P环境下的数据库管理系统上,文档集和数据库的查询被统一起来,一致对待。在查询处理期间,直方图可以自动更新,同时根据查询结果,邻居节点可以自调整,具有自适应性。实验结果表明,基于关键词的数据库共享突破了传统的数据库共享模式,简化了数据访问方式,而基于直方图的Top-k查询算法提高了查询效率。

M-Cubes自重构机器人系统动态模型描述方法研究

从模块、构型对M-Cubes自重构机器人进行了分析,用特征向量对模块的当前外部状态进行了描述;用元模块缓解单元模块的运动约束,增强模块的运动能力,并对元模块的状态进行了描述。静态构型引入了通信网络、能量网络、计算网络;动态构型引入动态图、元胞自动机,动态描述系统构型。模块个体和构型的分别描述提高了整个系统的认知程度,仿真试验表明,该方法是有效的。

基于多故障分类的Hex-Rotor无人飞行器的执行单元故障检测与自重构

为了实现对Hex-Rotor无人飞行器执行单元故障的快速准确检测,提高飞行器的安全性和可靠性,提出基于多故障分类的执行单元故障检测与自重构算法.在对执行单元故障进行分类的基础上,建立执行单元升力故障模型,构建基于扩展卡尔曼滤波算法的故障观测器组,实现故障的检测与隔离.利用故障观测器的输出信号,对不同故障进行相应的自重构,设计基于多故障分类的自重构控制算法.通过理论分析、数值仿真和实际飞行,验证了提出算法的有效性.结果表明,利用该算法能够快速、准确地完成故障检测与隔离,在故障条件下保证飞行器姿态控制的稳定性.

Network-based reconfiguration routes for a self-reconfigurable robot

This paper presents a network-based analysis approach for the reconfiguration problem of a self-reconfigurable robot. The self-reconfigurable modular robot named ＂AMOEBA-I＂ has nine kinds of non-isomorphic configurations that consist of a configuration network. Each configuration of the robot is defined to be a node in the weighted and directed configuration network. The transformation from one configuration to another is represented by a directed path with nonnegative weight. Graph theory is applied in the reconfiguration analysis, where reconfiguration route, reconfigurable matrix and route matrix are defined according to the topological information of these configurations. Algorithms in graph theory have been used in enumerating the available reconfiguration routes and deciding the best reconfiguration route. Numerical analysis and experimental simulation results prove the validity of the approach proposed in this paper. And it is potentially suitable for other self-reconfigurable robots＇ configuration control and reconfiguration planning.

Q-learning based heterogenous network self-optimization for reconfigurable network with CPC assistance

With the irreversible trend of the convergence and cooperation among heterogeneous networks, there emerge some important issues for network evolution. One of them is to reconfigure network elements such as cellular base stations （BSs） or access points （APs） of wireless local area networks （WLANs） according to the real-time network environment, in order to maximize the cooperation gain of different networks. In this paper, we consider cognitive pilot channel （CPC） as an assistant to enable cooperation among heterogeneous networks. Based on the widely used reinforcement learning algorithm, this paper has proposed the heterogeneous network self-optimization algorithm （HNSA） to solve the adaptation problem in reconfigurable systems. In the algorithm, distributed agents perform reinforcement learning, and make decisions cooperatively with the help of CPC in order to reduce the system blocking rate and improve network revenue. Finally our simulation proves the anticipated goal is achieved.

Design of Distributed Fault-Tolerant Industrial Network

A token-bus-based design method of the distributedfault-tolerant industrial network is presented in this pa-per.The dual-link network is of hot-redundancy.The performance of the network is also discussed.

Motion of an Underwater Self-Reconfigurable Robot with Tree-Like Configurations

Underwater self-reconfigurable system(USS),an underwater self-reconfigurable robot consisting of two types of modules,can reform various configurations in real time.Compared with normal underwater robots,its diverse configurations bring forward good adaptability and more abundant gaits.For the tree-like configurations,we propose a technique for dynamic modeling and configuration description.The eel-like configuration and the octopus-like one are chosen as examples to verify the technique,and some gaits are designed.For the eel-like configuration with the serpentine gait,the technique gives the same simulation results as existing eel-like models.For other cases,simulation results are consistent well with what happens in nature.