Master/Slave结构下可保证边竞争QoS限制的资源分配策略

任务调度作为分布式系统中提高系统并发处理的关键一直受到很多关注,随着分布式系统规模的扩大以及分布式系统中所处理任务数的增多,这个NP问题很多只能依靠启发式搜索技术获得近似最优解,然而这些算法中大都忽略了分布式系统中的一些实际问题,如通信竞争问题。已有的关注通信竞争的理论要么不适用于多任务的实时分布式系统,要么最终的任务分配无法实现整体makespan值最小(min-max)。本文提出了一个以master/slave为支撑结构,以最小化系统整体响应时间为代价函数的算术模型MMP。MMP既考虑了通信竞争问题,也考虑了多任务事实分布式系统的特征:任务数量多,任务间相互独立,任务以一定频率到达,任务执行受QoS限制。

基于Master/Slave模式的CT同时代数重建的并行进程

Mastel/Slave模式,又称主从模式,是一种并行程序设计思想。本文介绍了同时代数重建法(SimultaneousAlgebraicReconstructionTechnique,SART),并简化、改进了该算法:讨论了SART算法的并行性和基于Master/Slave模式的并行进程:通过算法复杂度分析和在以客户/服务器((Cient/Serve)模式组建的局域网上的网络并行重建试验,证明了该并行进程能较大地提高SART算法的时间效率。

Achievement of chaotic synchronization trajectories of master-slave manipulators with feedback control strategy

This paper addresses a master-slave synchro- nization strategy for complex dynamic systems based on feedback control. This strategy is applied to 3-DOF pla- nar manipulators in order to obtain synchronization in such complicated as chaotic motions of end-effectors. A chaotic curve is selected from Duffing equation as the trajectory of master end-effector and a piecewise approximation method is proposed to accurately represent this chaotic trajectory of end-effectors. The dynamical equations of master-slave manipulators with synchronization controller are derived, and the Lyapunov stability theory is used to determine the stability of this controlled synchronization system. In numer- ical experiments, the synchronous motions of end-effectors as well as three joint angles and torques of master-slave manipulators are studied under the control of the proposed synchronization strategy. It is found that the positive gain matrix affects the implementation of synchronization con- trol strategy. This synchronization control strategy proves the synchronization＇s feasibility and controllability for com- plicated motions generated by master-slave manipulators.

Exponential networked synchronization of master-slave chaotic systems with timevarying communication topologies

The networked synchronization problem of a class of master-slave chaotic systems with time-varying communication topologies is investigated in this paper. Based on algebraic graph theory and matrix theory, a simple linear state feedback controller is designed to synchronize the master chaotic system and the slave chaotic systems with a time- varying communication topology connection. The exponential stability of the closed-loop networked synchronization error system is guaranteed by applying Lyapunov stability theory. The derived novel criteria are in the form of linear matrix inequalities （LMIs）, which are easy to examine and tremendously reduce the computation burden from the feedback matrices. This paper provides an alternative networked secure communication scheme which can be extended conveniently. An illustrative example is given to demonstrate the effectiveness of the proposed networked synchronization method.

Master-slave robot force telepresence technology

In order to make the manipulators useful, some force feedback is required to enable the operator to sense the robot’s feelings. Without force feedback, many tasks will not be able to be carried out. For these reasons, a master slave system with different kinematics has been developed. The system permits us to vary the ratio of the position/attitude, to design a master manipulator without considering the kinematics of the slave manipulator, and so on. To overcome the difficulties, a master slave manipulator system with different kinematics is proposed. The master manipulator is force controlled via a force torque sensor in the handle. As to master slave manipulator system with two way force feedback is concerned, the force goes to the actuator from the operator, and come back to the operator from the actuator. The working situation is viewed by the stereo TV supervisory system. The force and vision telepresence are thus achieved. In order to ensure the maneuverability, direct drive DC motors and PWM servo units are adopted to improve the response speed. It can provide force response in a wide range. A lot of experiments were performed with the master slave manipulator system force telepresence to study the force response under restricted environment. By two force sensors, the force position bilateral force response system effectively decreases the affection of friction and inertia force, and increases the authenticity of bilateral force response. When the slave manipulator arm is encountered with soft object(sponge), in the experiments, the operator can clearly have the fine feeling as if he himself is contacted with the object.

Research on A Master - slave Multi - microcomputers Control System for Hollow Spindle Fancy Yarn Spinning Machine

In this paper, a successfully studied and developed master - slave muld - microcomputers control system based on PC - BUS for hollow spindle fancy yarn spinning machine, mainly Its overall scheme, software and hardware construction, is introduced. Spinning experiments show that the system achieves satisfactory result. This system can solve the diftkultles of mechatronical fusion between domestic hollow splndk fancy yarn spuming muchine and its microcomputer control technology.

Power-combining based on master-slave injection-locking magnetron

A microwave power-combining system composed of two Panasonic 2M244-M1 magnetrons based on master–slave injection-locking is demonstrated in this paper. The principle of master–slave injection-locking and the locking condition are theoretical analyzed. Experimental results are consistent with the theoretical analysis and the experimental combined efficiency is higher than 96%. Compared with the external-injection-locked system, the power-combining based on the master–slave injection-locking magnetron is superior by taking out the external solid-state driver and the real-time phase control system. Thus, this power-combining system has great potential for obtaining a high efficiency, high stability, low cost, and high power microwave source.

Research on Master-slave Telerobot Force Telepresence Technology

A 3 DOF master-slave telerobot system is established for study on force telepresence technology. A force feedback and position control scheme is adopted in the bilateral force response control system,and force fidelity and controllability experiments demonstrate feasibility of the con-trol system.

Adaptive H_∞ Synchronization of Master-slave Systems with Mixed Time-varying Delays and Nonlinear Perturbations: An LMI Approach

This paper proposes an adaptive synchronization problem for the master and slave structure of linear systems with nonlinear perturbations and mixed time-varying delays comprising different discrete and distributed time delays. Using an appropriate Lyapunov-Krasovskii functional, some delay-dependent sufficient conditions and an adaptation law including the master-slave parame- ters are established for designing a delayed synchronization law in terms of linear matrix inequalities（LMIs）. The time-varying controller guarantees the H ∞ synchronization of the two coupled master and slave systems regardless of their initial states. Particularly, it is shown that the synchronization speed can be controlled by adjusting the updated gain of the synchronization signal. Two numerical examples are given to demonstrate the effectiveness of the method.

Tremor suppression in master-slave robot remote welding system

Welding seam tracking precision was decreased due to human hand tremor during the master-slave welding teleoperation. To solve this problem, a master-slave robot remote welding system was built, the system consisted of a master manipulator with six degree of freedom （ DOF ） , an industrial computer control system and a slave Motoman HP3 J robot, and human hand tremor and digital filtering were discussed. An optimal digital filter was designed to clean human tremor signal for improving the welding seam tracking precision. The experimental results show that the digital filter suppresses the operator＇ s tremor signal.

Hierarchical hybrid control network design based on LON and master-slave RS-422/485 protocol

Aiming at the weaknesses of LON bus, combining the coexistence of fieldbus and DCS (Distribu ted Control Systems) in control networks, the authors introduce a hierarchical hybrid control network design based on LON and master slave RS 422/485 protocol. This design adopts LON as the trunk, master slave RS 422/485 control networks are connected to LON as special subnets by dedicated gateways. It is an implementation method for isomerous control network integration. Data management is ranked according to real time requirements for different network data. The core components, such as control network nodes, router and gateway, are detailed in the paper. The design utilizes both communication advantage of LonWorks technology and the more powerful control ability of universal MCUs or PLCs, thus it greatly increases system response speed and performance cost ratio.

Distributed Generation Islanding Effect on Distribution Networks and End User Loads Using the Master-Slave Islanding Method

This study aims to address the feasibility of planned islanding operation and to investigate the effect of unplanned islanding using the master-slave islanding method for controlling the distributed generation units during grid-connected and islanding operation. Neplan desktop power simulation tool was used for the modelling and simulation of a realistic MV network with four different distributed generation technologies (diesel, gas, hydro and wind) along with their excitation and governor control systems, while an exponential model was used to represent the loads in the network. The dynamic and steady state behavior of the four distributed generation technologies were investigated during grid-connected operation and two transition modes to the islanding situation, planned and unplanned. The obtained results that validated through various case studies have shown that a suitable planned islanding transition could provide support to critical loads at the event of electricity utility outages.

Content Addressable Memory Using Automatic Charge Balancing with Self-Control Mechanism and Master-Slave Match Line Design

Content Addressable Memory (CAM) is a type of memory used for high-speed search applications. Due to parallel comparison feature, the CAM memory leads to large power consumption which is caused by frequent pre-charge or discharge of match line. In this paper, CAM for automatic charge balancing with self-control mechanism is proposed to control the voltage swing of ML for reducing the power consumption of CAM. Another technique to reduce the power dissipation is to use MSML, it combines the master-slave architecture with charge minimization technique. Unlike the conventional design, only one match line (ML) is used, whereas in Master-Slave Match Line (MSML) one master ML and several slave MLs are used to reduce the power dissipation in CAM caused by match lines (MLs). Theoretically, the match line (ML) reduces the power consumption up to 50% which is independent of search and match case. The simulation results using Cadence tool of MSML show the reduced power consumption in CAM and modified CAM cell.

中空连续体机械臂的设计与主从任务转换避障控制

连续体机械臂具有优良的弯曲性能和柔顺灵活性,表现出了独特的环境适应性和人机交互安全性,在微创手术、灾后救援、狭窄空间检修等非结构化环境及家庭服务领域具有广阔的应用前景.然而,连续体机械臂的中央脊椎骨占据其内部空间,模块单元冗余且运动耦合导致避障运动困难等问题妨碍了其在实际场景中的应用.针对以上问题,设计了内部中空的丝驱动连续体机械臂,为末端执行器的电液气管线留置出了充足的物理空间,并通过鲍登管在结构上实现了模块单元间的运动解耦;考虑丝驱动连续体机械臂的弯曲特性,建立了解耦后的简化运动学模型和运动学闭环控制算法;构造了评估空间障碍物与连续体机械臂最短距离的计算方法;在传统变构型避障运动控制的基础上,提出了基于主从任务转换的避障控制算法,能够在末端轨迹跟踪约束下,实现对障碍的躲避,同时也可暂时舍弃对给定末端轨迹的跟踪以躲避位于末端运动轨迹附近的障碍物.仿真和实验结果表明:所设计的连续体机械臂具有良好的运动能力,轨迹跟踪控制的末端位置平均误差为2.510 mm,仅为连续体机械臂长度的0.32%;提出的主从任务转换避障控制算法有效,能够准确评估末端运动与避障运动的优先级,相关研究工作为连续体机械臂的设计和运动控制提供了新的参考和思路.

基于有限质点法的分布协调式多尺度分析

多尺度模型采用“整体宏观,局部精细”的方式来平衡结构数值模拟的计算精度与计算代价,能够在把握结构整体特征的同时获得结构局部信息。该文基于有限质点法点值描述与显式求解的特点,提出了一种考虑界面变形的分布协调式多尺度耦合方法。该文详述了分布协调式多尺度耦合的基本原理,给出了分布协调式多尺度耦合的有限质点法实现流程:计算界面处的作用力,依据力平衡关系将主质点上的界面作用力分配到从质点上,再依据位移协调关系和运动方程求解得到的从质点位移增量来求解主质点的运动。该文实现了梁-平面、梁-壳、梁-实体三种类型的多尺度连接,避免了耦合界面上的应力集中问题,通过算例对比验证了该方法在几何非线性与动力问题中的稳定性与可靠性,为结构多尺度精细化分析提供有效手段。

考虑高温超导电缆接入的配电网变电站及网架协同规划

城市配电网面临着用电需求增长而土地等规划资源受限的困境,随着高温超导电缆(简称超导电缆)成本下降及运行技术的逐渐成熟,为提升城市配电网的供电能力、保障供电需求提供了解决措施。超导电缆系统与常规输电线路在应用场景与技术经济特性上存在较大差异,需考虑超导电缆纳入的差异性,才能充分发挥其输电能力强、损耗低和截面小的优势,为此提出了一种考虑超导电缆接入的配电网变电站及网架协同规划方法。基于主从决策和全寿命周期成本的理念,通过分析超导电缆接入配电网后系统变电站配置和网架布局间的耦合关系,综合考虑经济性要求与可靠性约束,建立了考虑超导电缆接入的变电站-网架协同规划模型。采用基于多种策略改进后的鲸鱼优化算法对模型进行求解,得到含超导电缆的配电网规划方案,并通过算例验证了所提方法的有效性。

RSS-Based Selective Clustering Technique Using Master Node for WSN

Wireless sensor networks(WSN)are designed to monitor the physical properties of the target area.The received signal strength(RSS)plays a significant role in reducing sensor node power consumption during data transmission.Proper utilization of RSS values with clustering is required to harvest the energy of each network node to prolong the network life span.This paper introduces the RSS-based energy-efficient selective clustering technique using a master node(RESCM)to improve energy utilization using a master node.The master node positioned at the center of the network area and base station(BS)is placed outside the network area.During cluster head(CH)selection,the node with a high RSS value is more likely to become CH.The network is divided into segments according to the distance from the master node.All nodes near BS or master node transmit their data using direct transmission without the clustering process.The simulation results showed that the RESCM method improves the total network lifespan effectively.

智能算法的亚群优化策略综述

群智能算法的优化是提升群智能算法性能的一个主要途径,随着群智能算法越来越广泛地运用到各类模型优化、生产调度、路径规划等问题中,对智能算法性能的要求也越来越高。亚群策略作为一种优化群智能算法的重要手段,能够灵活地平衡算法的全局勘探能力和局部开发能力,已经成为群智能算法的研究热点之一。为了促进亚群优化策略的发展和应用,对动态亚群策略、基于主从范式的亚群策略和基于网络结构的亚群策略进行了详细调查,阐述了各类亚群策略的结构特点、改进方式和应用场景。最后,总结了亚群策略目前存在的问题以及未来的研究趋势和发展方向。

主从遥操作机械手工作空间覆盖控制策略研究

针对遥操作机器人主控制器工作空间过小和主从手工作空间不匹配的问题,提出一种区域覆盖思路。将主控制器工作空间与从机械手工作空间一一对应的映射关系转换成主手工作空间多次区域映射的关系,通过多次建立主从手的连接,达到区域覆盖的目的。同时为了更好地控制从机械手末端的姿态,设计一种相对运动姿态控制方法,将传递给机械手的绝对姿态坐标替换成姿态运动信息,以达到相对姿态控制目的。最后,进行仿真分析和试验验证。结果表明:该方法能够实现工作空间完美覆盖,主手能够有效地控制从手运动。

舰船动力设备抗冲击评估方法综述

舰船动力设备的抗冲击能力是舰船安全稳定运行的重要保障,而合理的评估方法可以较为方便地获得动力设备的抗冲击特性预测结果。首先,将冲击过程分为低/高速碰撞冲击过程和非接触爆炸冲击过程,基于主从系统关系,阐述舰船设备非一体化与一体化抗冲击方法,总结舰船动力设备的抗冲击研究进展,提出舰船动力设备抗冲击领域的重点研究技术。然后,结合舰船设备一体化方法(分为等效静力法、动态设计分析法及时域分析法)的特点,总结得出:等效静力法仅适用于低频影响的结构简单动力设备;动态设计分析法忽略了邻近设备、隔振系统及船体结构对冲击输入载荷的影响;时域分析法仅适用于爆炸冲击等特定场景或冲击信号输入;而舰船设备一体化考虑了船体结构–基座–隔振系统–动力设备形成的多自由度系统,其计算结果更贴近于实船工况,但建模和计算成本较高。最后,展望了舰船动力设备抗冲击的重要发展方向,包括评估方法的准确选取、抗冲击试验台的合理改进、冲击响应信号提取分析、动力设备多场耦合作用分析、动力设备物理模型简化研究、内部流动介质等效替代研究、数据挖掘和深度学习方法融合等。