Based on QoS (quality of service) parameters: time delay, jitter, bandwidth and package loss. As time delay in the Internet is variable, it is hard to compensate it by traditional methods. Event synchronization commun...Based on QoS (quality of service) parameters: time delay, jitter, bandwidth and package loss. As time delay in the Internet is variable, it is hard to compensate it by traditional methods. Event synchronization communication driven method is proposed to overcome the negative effects induced by time delay. This method is a non-time based method and it can get rid of the effects of time in the control loop of telerobotics. Stability, transparency and synchronization can be maintained in it by event-driven method. Multimodal enhanced telerobotics is put forward with its feedback including force, video, audio and temperature etc. The use of multimodal feedback improves the efficiency and safety of the whole system. Synchronization in multimodal feedback is hard to ensure and event-driven method is also good for it. Experiments on an Internet-based shaft-hole assemblage system show good results by using event synchronization communication driven method and UDP protocol.展开更多
In the analysis of power electronics system,it is necessary to simulate ordinary differential equations(ODEs)with discontinuities and stiffness.However,there are many difficulties in using traditional discrete-time al...In the analysis of power electronics system,it is necessary to simulate ordinary differential equations(ODEs)with discontinuities and stiffness.However,there are many difficulties in using traditional discrete-time algorithms to solve such equations.Kofman and others presented the quantized state systems(QSS)algorithm in the discrete event system specification(DEVS)formalism.The discretization is applied to the state variables instead of time range in QSS.QSS is efficient to solve ODEs,but it is difficulty to be used when simulating actual power electronics systems with controller’s and other events.Based on the idea of this numerical algorithm and discrete event,a Discrete State Event Driven(DSED)simulation method is presented in this paper,which is fit for simulation of power electronics system.The method is developed to deal with non-linearity,stiffness and multi-time scale of power electronics systems.The DSED simulation method includes event definition,module seperation and modeling,event-driven mechanisms,numerical computation based on QSS,and some other operations.Simulation results verified the effectiveness and validity of the proposed method.展开更多
文摘Based on QoS (quality of service) parameters: time delay, jitter, bandwidth and package loss. As time delay in the Internet is variable, it is hard to compensate it by traditional methods. Event synchronization communication driven method is proposed to overcome the negative effects induced by time delay. This method is a non-time based method and it can get rid of the effects of time in the control loop of telerobotics. Stability, transparency and synchronization can be maintained in it by event-driven method. Multimodal enhanced telerobotics is put forward with its feedback including force, video, audio and temperature etc. The use of multimodal feedback improves the efficiency and safety of the whole system. Synchronization in multimodal feedback is hard to ensure and event-driven method is also good for it. Experiments on an Internet-based shaft-hole assemblage system show good results by using event synchronization communication driven method and UDP protocol.
基金This work was supported by a grant from the National Nature Science Foundation of China(No 51490680,No 51490683)。
文摘In the analysis of power electronics system,it is necessary to simulate ordinary differential equations(ODEs)with discontinuities and stiffness.However,there are many difficulties in using traditional discrete-time algorithms to solve such equations.Kofman and others presented the quantized state systems(QSS)algorithm in the discrete event system specification(DEVS)formalism.The discretization is applied to the state variables instead of time range in QSS.QSS is efficient to solve ODEs,but it is difficulty to be used when simulating actual power electronics systems with controller’s and other events.Based on the idea of this numerical algorithm and discrete event,a Discrete State Event Driven(DSED)simulation method is presented in this paper,which is fit for simulation of power electronics system.The method is developed to deal with non-linearity,stiffness and multi-time scale of power electronics systems.The DSED simulation method includes event definition,module seperation and modeling,event-driven mechanisms,numerical computation based on QSS,and some other operations.Simulation results verified the effectiveness and validity of the proposed method.
