Next generation grid systems where the emphasis shifts to distributed global collaboration, a service-oriented approach and information layer issues exhibit a strong sense of automation. Requirements for these systems...Next generation grid systems where the emphasis shifts to distributed global collaboration, a service-oriented approach and information layer issues exhibit a strong sense of automation. Requirements for these systems resemble the self-organizing and the healing properties of natural ecosystems. Some key ecological concepts and mechanisms are introduced into the design for the third generation grid computing architectures by inspiration of this resemblance. Also, an Ecological Network-based Computing Environment (ENCE) platform is designed in this paper. Based on the ENCE platform, a grid-computing model of three-layered grid conceptual prototype that embeds the ENCE layers is presented from the viewpoint of implementation. The implementation model should be useful to the design of the third generation grid systems.展开更多
The control network is an important developmental orientation in the remote control system. As the control network and information network are comparatively alike in the framework and technology, we can build a contro...The control network is an important developmental orientation in the remote control system. As the control network and information network are comparatively alike in the framework and technology, we can build a control network which is similar to the common information network. In the era when the information network is becoming increasingly mature, it is a royal road to construct or rebuild a control information network in the development of the control network by relying on the achievements made in the information network or current information resources. This paper expounds the construction idea of the control information network, gives the idiographic realization method and then researches into the real-time problem encountered in the control information network, and presents a three-closed-loop control system based on virtualized reality. The feasibility of the idea is validated via experiments and simulations separately.展开更多
A hybrid position/force controller is designed for the joint 2 and the joint 3 of thePUMA 560 robot.The hybrid controller includes a multilayered neural network,which canidentify the dynamics of the contacted environm...A hybrid position/force controller is designed for the joint 2 and the joint 3 of thePUMA 560 robot.The hybrid controller includes a multilayered neural network,which canidentify the dynamics of the contacted environment and can optimize the parameters of PIDcontroller.The experimental results show that after having been trained,the robot has sta-ble response to the training patterns and strong adaptive ability to the situation between thepatterns.展开更多
基金Supported in part by the National Nature Science Foundation of China (No. 60474037 and 60004006) and Specialized Research Fund for the Doctoral Program of Higher Education from Educational Committee of China (No. 20030255009)
文摘Next generation grid systems where the emphasis shifts to distributed global collaboration, a service-oriented approach and information layer issues exhibit a strong sense of automation. Requirements for these systems resemble the self-organizing and the healing properties of natural ecosystems. Some key ecological concepts and mechanisms are introduced into the design for the third generation grid computing architectures by inspiration of this resemblance. Also, an Ecological Network-based Computing Environment (ENCE) platform is designed in this paper. Based on the ENCE platform, a grid-computing model of three-layered grid conceptual prototype that embeds the ENCE layers is presented from the viewpoint of implementation. The implementation model should be useful to the design of the third generation grid systems.
文摘The control network is an important developmental orientation in the remote control system. As the control network and information network are comparatively alike in the framework and technology, we can build a control network which is similar to the common information network. In the era when the information network is becoming increasingly mature, it is a royal road to construct or rebuild a control information network in the development of the control network by relying on the achievements made in the information network or current information resources. This paper expounds the construction idea of the control information network, gives the idiographic realization method and then researches into the real-time problem encountered in the control information network, and presents a three-closed-loop control system based on virtualized reality. The feasibility of the idea is validated via experiments and simulations separately.
基金Supported by the National Defence Science & Technology Pre-research Fund of China.
文摘A hybrid position/force controller is designed for the joint 2 and the joint 3 of thePUMA 560 robot.The hybrid controller includes a multilayered neural network,which canidentify the dynamics of the contacted environment and can optimize the parameters of PIDcontroller.The experimental results show that after having been trained,the robot has sta-ble response to the training patterns and strong adaptive ability to the situation between thepatterns.
