The composite time scale(CTS)provides a stable,accurate,and reliable time scale for modern society.The improvement of CTS’s real-time performance will improve its stability,which strengths related applications’perfo...The composite time scale(CTS)provides a stable,accurate,and reliable time scale for modern society.The improvement of CTS’s real-time performance will improve its stability,which strengths related applications’performance.Aiming at this goal,a method achieved by determining the optimal calculation interval and accelerating adjustment stage is proposed in this paper.The determinants of the CTS’s calculation interval(characteristics of the clock ensemble,the measurement noise,the time and frequency synchronization system’s noise and the auxiliary output generator noise floor)are studied and the optimal calculation interval is obtained.We also investigate the effect of ensemble algorithm’s initial parameters on the CTS’s adjustment stage.A strategy to get the reasonable initial parameters of ensemble algorithm is designed.The results show that the adjustment stage can be finished rapidly or even can be shorten to zero with reasonable initial parameters.On this basis,we experimentally generate a distributed CTS with a calculation interval of 500 s and its stability outperforms those of the member clocks when the averaging time is longer than1700 s.The experimental result proves that the CTS’s real-time performance is significantly improved.展开更多
Variable curvature friction pendulum bearings(VCFPB)effectively reduce the dynamic response of storage tanks induced by earthquakes.Shaking table testing is used to assess the seismic performance of VCFPB isolated sto...Variable curvature friction pendulum bearings(VCFPB)effectively reduce the dynamic response of storage tanks induced by earthquakes.Shaking table testing is used to assess the seismic performance of VCFPB isolated storage tanks.However,the vertical pressure and friction coefficient of the scaled VCFPB in the shaking table tests cannot match the equivalent values of these parameters in the prototype.To avoid this drawback,a real-time hybrid simulation(RTHS)test was developed.Using RTHS testing,a 1/8 scaled tank isolated by VCFPB was tested.The experimental results showed that the displacement dynamic magnification factor of VCFPB,peak reduction factors of the acceleration,shear force,and overturning moment at bottom of the tank,were negative exponential functions of the ratio of peak ground acceleration(PGA)and friction coefficient.The peak reduction factors of displacement,acceleration,force and overturning moment,which were obtained from the experimental results,are compared with those calculated by the Housner model.It can be concluded that the Housner model is applicable in estimation of the acceleration,shear force,and overturning moment of liquid storage tank,but not for the sliding displacement of VCFPBs.展开更多
AIM To clarify the diagnostic performance of endocytoscopy for differentiation between neoplastic and nonneoplastic colorectal diminutive polyps.METHODS Patients who underwent endocytoscopy between October and Decembe...AIM To clarify the diagnostic performance of endocytoscopy for differentiation between neoplastic and nonneoplastic colorectal diminutive polyps.METHODS Patients who underwent endocytoscopy between October and December 2016 at Sano Hospital were prospectively recruited. When diminutive polyps(≤5 mm) were detected, the lesions were evaluated by endocytoscopy after being stained with 0.05% crystal violet and 1% methylene blue. The diminutivepolyps were classified into five categories(EC 1 a, 1 b, 2, 3 a, and 3 b). Endoscopists were asked to take a biopsy from any lesion diagnosed as EC1 b(indicator of hyperplastic polyp) or EC2(indicator of adenoma). We have assessed the diagnostic performance of endocytoscopy for EC2 and EC1 b lesions by comparison with the histopathology of the biopsy specimen. RESULTS A total of 39 patients with 63 diminutive polyps were analyzed. All polyps were evaluated by endocytoscopy. The mean polyp size was 3.3 ± 0.9 mm. Among the 63 diminutive polyps, 60 were flat and 3 were pedunculated. The mean time required for EC observation, including the time for staining with crystal violet and methylene blue, was 3.0 ± 1.9 min. Histopathologic evaluation showed that 13 polyps were hyperplastic and 50 were adenomas. The sensitivity, specificity, accuracy, positive predictive value, and negative predictive value of EC2 for adenoma compared with EC1 b for hyperplastic polyp were 98.0%, 92.3%, 96.8%, 98.0% and 92.3%, respectively. There were only two cases of disagreement between the endoscopic diagnosis made by endocytoscopy and the corresponding histopathological diagnosis.CONCLUSION Endocytoscopy showed a high diagnostic performance for differentiating between neoplastic and non-neoplastic colorectal diminutive polyps, and therefore has the potential to be used for "real-time histopathology".展开更多
In order to optimize the embedded system implementation for Ethernet-based computer numerical control (CNC) system, it is very necessary to establish the performance analysis model and further adopt the codesign met...In order to optimize the embedded system implementation for Ethernet-based computer numerical control (CNC) system, it is very necessary to establish the performance analysis model and further adopt the codesign method from the control, communication and computing perspectives. On the basis of analyzing real-time Ethemet, system architecture, time characteristic parameters of control-loop ere, a performance analysis model for real-time Ethemet-based CNC system was proposed, which is able to include the timing effects caused by the implementation platform in the simulation. The key for establishing the model is accomplished by designing the error analysis module and the controller nodes. Under the restraint of CPU resource and communication bandwidth, the experiment with a case study was conducted, and the results show that if the deadline miss ratio of data packets is 0.2%, then the percentage error is 1.105%. The proposed model can be used at several stages of CNC system development.展开更多
Real-time interaction with uncertain and dynamic environments is essential for robotic systems to achieve functions such as visual perception,force interaction,spatial obstacle avoidance,and motion planning.To ensure ...Real-time interaction with uncertain and dynamic environments is essential for robotic systems to achieve functions such as visual perception,force interaction,spatial obstacle avoidance,and motion planning.To ensure the reliability and determinism of system execution,a flexible real-time control system architecture and interaction algorithm are required.The ROS framework was designed to improve the reusability of robotic software development by providing a distributed structure,hardware abstraction,message-passing mechanism,and application prototypes.Rich ecosystems for robotic development have been built around ROS1 and ROS2 architectures based on the Linux system.However,because of the fairness scheduling principle of the default Linux system design and the complexity of the kernel,the system does not have real-time computing.To achieve a balance between real-time and non-real-time computing,this paper uses the transmission mechanism of ROS2,combines it with the scheduling mechanism of the Linux operating system,and uses Preempt_RT to enhance the real-time computing of ROS1 and ROS2.The real-time performance evaluation of ROS1 and ROS2 is conducted from multiple perspectives,including throughput,transmission mode,QoS service quality,frequency,number of subscription nodes and EtherCAT master.This paper makes two significant contributions:firstly,it employs Preempt_RT to optimize the native ROS2 system,effectively enhancing the real-time performance of native ROS2 message transmission;secondly,it conducts a comprehensive evaluation of the real-time performance of both native and optimized ROS2 systems.This comparison elucidates the benefits of the optimized ROS2 architecture regarding real-time performance,with results vividly demonstrated through illustrative figures.展开更多
Strategic maintenance plays a key role in ensuring high availability and utilization of the haul trucks,and as equipment began to grow more complex towards the end of the 20th century,there was a need for a proactive ...Strategic maintenance plays a key role in ensuring high availability and utilization of the haul trucks,and as equipment began to grow more complex towards the end of the 20th century,there was a need for a proactive maintenance strategy,which led to the development of condition-based maintenance.Realtime condition monitoring(RTCM)is the ability to perform condition monitoring in real-time and has the ability to alert maintenance and operations of abnormal conditions.These alarms can be used as an indication leading to a problem,and if a suitable corrective action is initiated in time,it could result in significant savings of equipment downtime and repair costs.This study aims to compare some maintenance performance indicators prior to and after implementation of RTCM strategy at a mine site using some tests of statistical significance.The study also indicated the presence of seasonality in the data,and thus the data was deseasonalized and detrended prior to being subjected to the statistical tests.Finally,the results indicated that RTCM strategy has proven to be successful in improving the availability for some of the failure categories chosen in this study.展开更多
A bench-scale reactor(72 L) red with domestic sewage, was operated more than 3 months with three operation modes: traditional mode, modified mode and real-time control mode, so as to evaluate effects of the operati...A bench-scale reactor(72 L) red with domestic sewage, was operated more than 3 months with three operation modes: traditional mode, modified mode and real-time control mode, so as to evaluate effects of the operation mode on the system performance and to develop a feasible control strategy. Results obtained from fixed-time control study indicate that the variations of the pH and oxidation-reduction potential(ORP) profiles can represent dynamic characteristics of system and the cycle sequences can be controlled and optimized by the control points on the pH and ORP profiles. A control strategy was, therefore, developed and applied to real-time control mode. Compared with traditional mode, the total nitrogen(TN) removal can be increased by approximately 16% in modified mode and a mean TN removal of 92% was achieved in real-time control mode. Moreover, approximately 12.5% aeration energy was saved in real- time control mode. The result of this study shows that the performance of nitrogen removal was enhanced in modified operation mode. Moreover, the real-time control made it possible to optimize process operation and save aeration energy.展开更多
System optimization plays a crucial role in developing VR system after 3D modeling, affecting the system's Immersion and Interaction performance enormously. In this article, several key techniques of optimizing a ...System optimization plays a crucial role in developing VR system after 3D modeling, affecting the system's Immersion and Interaction performance enormously. In this article, several key techniques of optimizing a virtual mining system were discussed: optimizing 3D models to keep the polygon number in VR system within target hardware's processing ability; optimizing texture database to save texture memory with perfect visual effect; optimizing database hierarchy structure to accelerate model retrieval; and optimizing LOD hierarchy structure to speed up rendering.展开更多
Real-time Ethernet(RTE) control systems with critical real-time requirements are called fast real-time(FRT) systems.To improve the real-time performance of Ethernet for plant automation(EPA),we propose an EPA-FRT sche...Real-time Ethernet(RTE) control systems with critical real-time requirements are called fast real-time(FRT) systems.To improve the real-time performance of Ethernet for plant automation(EPA),we propose an EPA-FRT scheme.The minimum macrocycle of EPA networks is reduced by redefining the EPA network frame format,and the synchronization process is modified to acquire higher accuracy.A multi-segmented topology with a scheduling scheme is introduced to increase effective bandwidth utilization and reduce protocol overheads,and thus to shorten the communication cycle significantly.Performance analysis and practical tests on a prototype system show the effectiveness of the proposed scheme,which achieves the best performance at small periodic payload in large scale systems.展开更多
Recently,switched Ethernet has become an active area of research because of its wide uses in industry.However,its uses have various real-time constraints on data communications.This paper analyzes the performance of t...Recently,switched Ethernet has become an active area of research because of its wide uses in industry.However,its uses have various real-time constraints on data communications.This paper analyzes the performance of the line topology switched Ethernet as a data acquisition network.Network calculus theory,which has been successfully applied to assess the real-time performance of packet-switched networks,is used to analyze the networks.To properly describe the activity of switches,a novel approach of modeling data flows into or out of switches is addressed.Based on our model,a concisely analytical expression of the maximal end-to-end delay in line topology switched Ethernet is derived.Finally,the relative simulation results are demonstrated.These results agree well with the analytical results,and thus they validate the data flow modeling techniques.展开更多
To evaluate and improve the real-time performance of Ethernet for plant automation(EPA) industrial Ethernet,the real-time performance of EPA periodic data transmission was theoretically and experimentally studied.By...To evaluate and improve the real-time performance of Ethernet for plant automation(EPA) industrial Ethernet,the real-time performance of EPA periodic data transmission was theoretically and experimentally studied.By analyzing information transmission regularity and EPA deterministic scheduling mechanism,periodic messages were categorized as different modes according to their entering-queue time.The scheduling characteristics and delivery time of each mode and their interacting relations were studied,during which the models of real-time performance of periodic information transmission in EPA system were established.On this basis,an experimental platform is developed to test the delivery time of periodic messages transmission in EPA system.According to the analysis and the experiment,the main factors that limit the real-time performance of EPA periodic data transmission and the improvement methods were proposed.展开更多
The effects of real-time traffic information system(RTTIS)on traffic performance under parallel,grid and ring networks were investigated.The simulation results show that the effects of the proportion of RTTIS usage de...The effects of real-time traffic information system(RTTIS)on traffic performance under parallel,grid and ring networks were investigated.The simulation results show that the effects of the proportion of RTTIS usage depend on the road network structures.For traffic on a parallel network,the performance of groups with and without RTTIS level is improved when the proportion of vehicles using RTTIS is greater than 0 and less than 30%,and a proportion of RTTIS usage higher than 90%would actually deteriorate the performance.For both grid and ring networks,a higher proportion of RTTIS usage always improves the performance of groups with and without RTTIS.For all three network structures,vehicles without RTTIS benefit from some proportion of RTTIS usage in a system.展开更多
Real-time hybrid simulation is an attractive method to evaluate the response of structures under earthquake loads. The method is a variation of the pseudodynamic testing technique in which the experiment is executed i...Real-time hybrid simulation is an attractive method to evaluate the response of structures under earthquake loads. The method is a variation of the pseudodynamic testing technique in which the experiment is executed in real time, thus allowing investigation of structural systems with rate-dependent components. Real-time hybrid simulation is challenging because it requires performance of all calculations, application of displacements, and acquisition of measured forces, within a very small increment of time. Furthermore, unless appropriate compensation for actuator dynamics is implemented, stability problems are likely to occur during the experiment. This paper presents an approach for real-time hybrid simulation in which compensation for actuator dynamics is implemented using a model-based feedforward compensator. The method is used to evaluate the response of a semi-active control of a structure employing an MR damper. Experimental results show good agreement with the predicted responses, demonstrating the effectiveness of the method for structural control performance assessment.展开更多
Tuned liquid damper (TLD) and tuned liquid column damper (TLCD) are two types of passive control devices that are widely used in structural control. In this study, a real-time hybrid simulation (RTHS) technique is emp...Tuned liquid damper (TLD) and tuned liquid column damper (TLCD) are two types of passive control devices that are widely used in structural control. In this study, a real-time hybrid simulation (RTHS) technique is employed to investigate the diff erence in control performance between TLD and TLCD. A series of RTHSs is presented with the premise of the same liquid length, mass ratio, and structural parameters. Herein, TLD and TLCD are physically experimented, and controlled structures are numerically simulated. Then, parametric studies are performed to further evaluate the diff erent performance between TLD and TLCD. Experimental results demonstrate that TLD is more eff ective than TLCD under diff erent amplitude excitations.展开更多
The hydropower running and performance can be displayed and analyzed by the real-time remote system. Real-time performance data of the hydraulic turbine unit can be obtained through the analysis of real-time operating...The hydropower running and performance can be displayed and analyzed by the real-time remote system. Real-time performance data of the hydraulic turbine unit can be obtained through the analysis of real-time operating data of the hydraulic turbine unit. It can not only guide significance for long-term operation of hydraulic turbine unit, but also provide a reference for improving the Hydropower hydro efficiency, economic dispatch of hydraulic turbine unit and performance comparison before and after the overhaul.展开更多
A technology called solar energy is a very promising technique, and is considered as the cleanest and the most abundant renewable resource that is naturally available every day. In this paper, a MATLAB environment has...A technology called solar energy is a very promising technique, and is considered as the cleanest and the most abundant renewable resource that is naturally available every day. In this paper, a MATLAB environment has been developed to calculate real-time power incidence on a PV system. It takes into account the time, location, PV tilt, and azimuth angles, and weather conditions to estimate incident power. In this paper, one case study is considered at New York State location. It has been applied to a newly installed 8 kW residential system located in Inwood. The solar panels are made up of silicon HIT (Heterojunction with Intrinsic Thin Layer) cells by Panasonic and solar cell rated at 19%. The result shows that the system is performing at its rated efficiency. The calculations involve the determination of direct, diffused and reflected radiation on the panels taking into account the time of the day, location, PV area, and orientations and weather conditions. The cloudiness index may be estimated based on the weather data and included in the calculations. After performing the irradiance calculations, the output power is estimated based on the rated efficiency at its temperature and compared with the generated output power. The real-time assessment of a PV system performance, during the operational time monitors the health of the PV system. The data obtained by this calculator may accompany production data provided to the consumer by the utility company.展开更多
This article focuses on the performance analysis of both real-time and post-mission kinematic precise point positioning(PPP)in challenging marine environments.For this purpose,a real dynamic experiment lasting 6 h was...This article focuses on the performance analysis of both real-time and post-mission kinematic precise point positioning(PPP)in challenging marine environments.For this purpose,a real dynamic experiment lasting 6 h was carried out on a lake dam in?orum City of Turkey.While the kinematic test was continuing,the real-time PPP coordinates were obtained for each measurement epoch with a commercial real-time PPP(RT-PPP)service,namely the Trimble Center Point RTX.Then the post-mission PPP(PM-PPP)coordinates were calculated by using Multi-GNSS data and the Multi-GNSS Experiment(MGEX)precise products.The kinematic RT-PPP and PM-PPP results showed that the PPP coordinates were consistent with the relative solution at centimetre and decimetre level in horizontal and height components,respectively.This study implies that PPP technique is a powerful tool for highly accurate positioning in both real-time and post-mission modes,even for dynamic applications in harsh environments.展开更多
A novel reconfigurable hardware system which uses both muhi-DSP and FPGA to attain high performance and real-time image processing are presented. The system structure and working principle of mainly processing multi-B...A novel reconfigurable hardware system which uses both muhi-DSP and FPGA to attain high performance and real-time image processing are presented. The system structure and working principle of mainly processing multi-BSP board, extended multi-DSP board are analysed. The outstanding advantage is that the communication among different board components of this system is supported by high speed link ports & serial ports for increasing the system performance and computational power. Then the implementation of embedded real-time operating systems (RTOS) by us is discussed in detail. In this system, we adopt two kinds of parallel structures controlled by RTOS for parallel processing of algorithms. The experimental results show that exploitive period of the system is short, and maintenance convenient. Thus it is suitable for real-time image processing and can get satisfactory effect of image recognition.展开更多
Actors'relocation is utilized during the network initialization to enhance real-time performance of wireless sensor and actor networks(WSANs)which is an important issue of WSANs.The actor deployment problem in WSA...Actors'relocation is utilized during the network initialization to enhance real-time performance of wireless sensor and actor networks(WSANs)which is an important issue of WSANs.The actor deployment problem in WSANs is proved NP-Hard whether the amount of actors is redundant or not,but to the best of our knowledge,no effective distributed algorithms in previous research can solve the problem.Thus two actor deployment strategies which need not the boundary control compared with present deployment strategies are proposed to solve this problem approximately based on the Voronoi diagram.Through simulation experiment,the results show that our distributed strategies are more effective than the present deployment strategies in terms of real-time performance,convergence time and energy consumption.展开更多
Fire rescue challenges and solutions have evolved from straightfor-ward plane rescue to encompass 3D space due to the rise of high-rise city buildings.Hence,this study facilitates a system with quick and simplified on...Fire rescue challenges and solutions have evolved from straightfor-ward plane rescue to encompass 3D space due to the rise of high-rise city buildings.Hence,this study facilitates a system with quick and simplified on-site launching and generates real-time location data,enabling fire rescuers to arrive at the intended spot faster and correctly for effective and precise rescue.Auto-positioning with step-by-step instructions is proposed when launching the locating system,while no extra measuring instrument like Total Station(TS)is needed.Real-time location tracking is provided via a 3D space real-time locating system(RTLS)constructed using Ultra-wide Bandwidth technology(UWB),which requires electromagnetic waves to pass through concrete walls.A hybrid weighted least squares with a time difference of arrival(WLS/TDOA)positioning method is proposed to address real path-tracking issues in 3D space and to meet RTLS requirements for quick computing in real-world applications.The 3D WLS/TDOA algorithm is theoretically constructed with the Cramer-Rao lower bound(CRLB).The computing complexity is reduced to the lower bound for embedded hardware to directly compute the time differential of the arriving signals using the time-to-digital converter(TDC).The results of the experiments show that the errors are controlled when the positioning algorithm is applied in various complicated situations to fulfill the requirements of engineering applications.The statistical analysis of the data reveals that the proposed UWB RTLS auto-positioning system can track target tags with an accuracy of 0.20 m.展开更多
基金the National Key Research and Development Program of China(Grant No.2021YFA1402102)the National Natural Science Foundation of China(Grant No.62171249)the Fund by Tsinghua University Initiative Scientific Research Program.
文摘The composite time scale(CTS)provides a stable,accurate,and reliable time scale for modern society.The improvement of CTS’s real-time performance will improve its stability,which strengths related applications’performance.Aiming at this goal,a method achieved by determining the optimal calculation interval and accelerating adjustment stage is proposed in this paper.The determinants of the CTS’s calculation interval(characteristics of the clock ensemble,the measurement noise,the time and frequency synchronization system’s noise and the auxiliary output generator noise floor)are studied and the optimal calculation interval is obtained.We also investigate the effect of ensemble algorithm’s initial parameters on the CTS’s adjustment stage.A strategy to get the reasonable initial parameters of ensemble algorithm is designed.The results show that the adjustment stage can be finished rapidly or even can be shorten to zero with reasonable initial parameters.On this basis,we experimentally generate a distributed CTS with a calculation interval of 500 s and its stability outperforms those of the member clocks when the averaging time is longer than1700 s.The experimental result proves that the CTS’s real-time performance is significantly improved.
基金Scientific Research Fund of Institute of Engineering Mechanics,China Earthquake Administration under Grant No.2018D03the National Natural Science Foundation of China under Grant Nos.51608016 and 51421005。
文摘Variable curvature friction pendulum bearings(VCFPB)effectively reduce the dynamic response of storage tanks induced by earthquakes.Shaking table testing is used to assess the seismic performance of VCFPB isolated storage tanks.However,the vertical pressure and friction coefficient of the scaled VCFPB in the shaking table tests cannot match the equivalent values of these parameters in the prototype.To avoid this drawback,a real-time hybrid simulation(RTHS)test was developed.Using RTHS testing,a 1/8 scaled tank isolated by VCFPB was tested.The experimental results showed that the displacement dynamic magnification factor of VCFPB,peak reduction factors of the acceleration,shear force,and overturning moment at bottom of the tank,were negative exponential functions of the ratio of peak ground acceleration(PGA)and friction coefficient.The peak reduction factors of displacement,acceleration,force and overturning moment,which were obtained from the experimental results,are compared with those calculated by the Housner model.It can be concluded that the Housner model is applicable in estimation of the acceleration,shear force,and overturning moment of liquid storage tank,but not for the sliding displacement of VCFPBs.
文摘AIM To clarify the diagnostic performance of endocytoscopy for differentiation between neoplastic and nonneoplastic colorectal diminutive polyps.METHODS Patients who underwent endocytoscopy between October and December 2016 at Sano Hospital were prospectively recruited. When diminutive polyps(≤5 mm) were detected, the lesions were evaluated by endocytoscopy after being stained with 0.05% crystal violet and 1% methylene blue. The diminutivepolyps were classified into five categories(EC 1 a, 1 b, 2, 3 a, and 3 b). Endoscopists were asked to take a biopsy from any lesion diagnosed as EC1 b(indicator of hyperplastic polyp) or EC2(indicator of adenoma). We have assessed the diagnostic performance of endocytoscopy for EC2 and EC1 b lesions by comparison with the histopathology of the biopsy specimen. RESULTS A total of 39 patients with 63 diminutive polyps were analyzed. All polyps were evaluated by endocytoscopy. The mean polyp size was 3.3 ± 0.9 mm. Among the 63 diminutive polyps, 60 were flat and 3 were pedunculated. The mean time required for EC observation, including the time for staining with crystal violet and methylene blue, was 3.0 ± 1.9 min. Histopathologic evaluation showed that 13 polyps were hyperplastic and 50 were adenomas. The sensitivity, specificity, accuracy, positive predictive value, and negative predictive value of EC2 for adenoma compared with EC1 b for hyperplastic polyp were 98.0%, 92.3%, 96.8%, 98.0% and 92.3%, respectively. There were only two cases of disagreement between the endoscopic diagnosis made by endocytoscopy and the corresponding histopathological diagnosis.CONCLUSION Endocytoscopy showed a high diagnostic performance for differentiating between neoplastic and non-neoplastic colorectal diminutive polyps, and therefore has the potential to be used for "real-time histopathology".
基金Projects(50875090,50905063) supported by the National Natural Science Foundation of ChinaProject(2009AA04Z111) supported by the National High Technology Research and Development Program of China+2 种基金Project(20090460769) supported by China Postdoctoral Science FoundationProject(2011ZM0070) supported by the Fundamental Research Funds for the Central Universities in ChinaProject(S2011010001155) supported by the Natural Science Foundation of Guangdong Province,China
文摘In order to optimize the embedded system implementation for Ethernet-based computer numerical control (CNC) system, it is very necessary to establish the performance analysis model and further adopt the codesign method from the control, communication and computing perspectives. On the basis of analyzing real-time Ethemet, system architecture, time characteristic parameters of control-loop ere, a performance analysis model for real-time Ethemet-based CNC system was proposed, which is able to include the timing effects caused by the implementation platform in the simulation. The key for establishing the model is accomplished by designing the error analysis module and the controller nodes. Under the restraint of CPU resource and communication bandwidth, the experiment with a case study was conducted, and the results show that if the deadline miss ratio of data packets is 0.2%, then the percentage error is 1.105%. The proposed model can be used at several stages of CNC system development.
基金Supported by National Key Research and Development Program of China(Grant No.2019YFB1309900)Institute for Guo Qiang,Tsinghua University of China(Grant No.2019GQG0007).
文摘Real-time interaction with uncertain and dynamic environments is essential for robotic systems to achieve functions such as visual perception,force interaction,spatial obstacle avoidance,and motion planning.To ensure the reliability and determinism of system execution,a flexible real-time control system architecture and interaction algorithm are required.The ROS framework was designed to improve the reusability of robotic software development by providing a distributed structure,hardware abstraction,message-passing mechanism,and application prototypes.Rich ecosystems for robotic development have been built around ROS1 and ROS2 architectures based on the Linux system.However,because of the fairness scheduling principle of the default Linux system design and the complexity of the kernel,the system does not have real-time computing.To achieve a balance between real-time and non-real-time computing,this paper uses the transmission mechanism of ROS2,combines it with the scheduling mechanism of the Linux operating system,and uses Preempt_RT to enhance the real-time computing of ROS1 and ROS2.The real-time performance evaluation of ROS1 and ROS2 is conducted from multiple perspectives,including throughput,transmission mode,QoS service quality,frequency,number of subscription nodes and EtherCAT master.This paper makes two significant contributions:firstly,it employs Preempt_RT to optimize the native ROS2 system,effectively enhancing the real-time performance of native ROS2 message transmission;secondly,it conducts a comprehensive evaluation of the real-time performance of both native and optimized ROS2 systems.This comparison elucidates the benefits of the optimized ROS2 architecture regarding real-time performance,with results vividly demonstrated through illustrative figures.
文摘Strategic maintenance plays a key role in ensuring high availability and utilization of the haul trucks,and as equipment began to grow more complex towards the end of the 20th century,there was a need for a proactive maintenance strategy,which led to the development of condition-based maintenance.Realtime condition monitoring(RTCM)is the ability to perform condition monitoring in real-time and has the ability to alert maintenance and operations of abnormal conditions.These alarms can be used as an indication leading to a problem,and if a suitable corrective action is initiated in time,it could result in significant savings of equipment downtime and repair costs.This study aims to compare some maintenance performance indicators prior to and after implementation of RTCM strategy at a mine site using some tests of statistical significance.The study also indicated the presence of seasonality in the data,and thus the data was deseasonalized and detrended prior to being subjected to the statistical tests.Finally,the results indicated that RTCM strategy has proven to be successful in improving the availability for some of the failure categories chosen in this study.
基金The Project of Beijing Science and Technology Committee (No.020620010120) ,the Hi_Tech Research and Development Program(863) of China (No.2004AA601020) ,the Project under Key International Cooperative Programs of NSFC(No.50521140075) and the Project of Key Laboratory of Beiing
文摘A bench-scale reactor(72 L) red with domestic sewage, was operated more than 3 months with three operation modes: traditional mode, modified mode and real-time control mode, so as to evaluate effects of the operation mode on the system performance and to develop a feasible control strategy. Results obtained from fixed-time control study indicate that the variations of the pH and oxidation-reduction potential(ORP) profiles can represent dynamic characteristics of system and the cycle sequences can be controlled and optimized by the control points on the pH and ORP profiles. A control strategy was, therefore, developed and applied to real-time control mode. Compared with traditional mode, the total nitrogen(TN) removal can be increased by approximately 16% in modified mode and a mean TN removal of 92% was achieved in real-time control mode. Moreover, approximately 12.5% aeration energy was saved in real- time control mode. The result of this study shows that the performance of nitrogen removal was enhanced in modified operation mode. Moreover, the real-time control made it possible to optimize process operation and save aeration energy.
文摘System optimization plays a crucial role in developing VR system after 3D modeling, affecting the system's Immersion and Interaction performance enormously. In this article, several key techniques of optimizing a virtual mining system were discussed: optimizing 3D models to keep the polygon number in VR system within target hardware's processing ability; optimizing texture database to save texture memory with perfect visual effect; optimizing database hierarchy structure to accelerate model retrieval; and optimizing LOD hierarchy structure to speed up rendering.
基金Project supported by the National High-Tech R&D Program (863) of China (No. 2008AA042602)the National Natural Science Foundation of China (Nos. 61075078 and 61074028)
文摘Real-time Ethernet(RTE) control systems with critical real-time requirements are called fast real-time(FRT) systems.To improve the real-time performance of Ethernet for plant automation(EPA),we propose an EPA-FRT scheme.The minimum macrocycle of EPA networks is reduced by redefining the EPA network frame format,and the synchronization process is modified to acquire higher accuracy.A multi-segmented topology with a scheduling scheme is introduced to increase effective bandwidth utilization and reduce protocol overheads,and thus to shorten the communication cycle significantly.Performance analysis and practical tests on a prototype system show the effectiveness of the proposed scheme,which achieves the best performance at small periodic payload in large scale systems.
文摘Recently,switched Ethernet has become an active area of research because of its wide uses in industry.However,its uses have various real-time constraints on data communications.This paper analyzes the performance of the line topology switched Ethernet as a data acquisition network.Network calculus theory,which has been successfully applied to assess the real-time performance of packet-switched networks,is used to analyze the networks.To properly describe the activity of switches,a novel approach of modeling data flows into or out of switches is addressed.Based on our model,a concisely analytical expression of the maximal end-to-end delay in line topology switched Ethernet is derived.Finally,the relative simulation results are demonstrated.These results agree well with the analytical results,and thus they validate the data flow modeling techniques.
基金Supported by the National High Technology Research and Development Program of China (2006AA040301-4,2007AA041301-6)
文摘To evaluate and improve the real-time performance of Ethernet for plant automation(EPA) industrial Ethernet,the real-time performance of EPA periodic data transmission was theoretically and experimentally studied.By analyzing information transmission regularity and EPA deterministic scheduling mechanism,periodic messages were categorized as different modes according to their entering-queue time.The scheduling characteristics and delivery time of each mode and their interacting relations were studied,during which the models of real-time performance of periodic information transmission in EPA system were established.On this basis,an experimental platform is developed to test the delivery time of periodic messages transmission in EPA system.According to the analysis and the experiment,the main factors that limit the real-time performance of EPA periodic data transmission and the improvement methods were proposed.
文摘The effects of real-time traffic information system(RTTIS)on traffic performance under parallel,grid and ring networks were investigated.The simulation results show that the effects of the proportion of RTTIS usage depend on the road network structures.For traffic on a parallel network,the performance of groups with and without RTTIS level is improved when the proportion of vehicles using RTTIS is greater than 0 and less than 30%,and a proportion of RTTIS usage higher than 90%would actually deteriorate the performance.For both grid and ring networks,a higher proportion of RTTIS usage always improves the performance of groups with and without RTTIS.For all three network structures,vehicles without RTTIS benefit from some proportion of RTTIS usage in a system.
基金National Science Foundation Graduate Research Fellowship
文摘Real-time hybrid simulation is an attractive method to evaluate the response of structures under earthquake loads. The method is a variation of the pseudodynamic testing technique in which the experiment is executed in real time, thus allowing investigation of structural systems with rate-dependent components. Real-time hybrid simulation is challenging because it requires performance of all calculations, application of displacements, and acquisition of measured forces, within a very small increment of time. Furthermore, unless appropriate compensation for actuator dynamics is implemented, stability problems are likely to occur during the experiment. This paper presents an approach for real-time hybrid simulation in which compensation for actuator dynamics is implemented using a model-based feedforward compensator. The method is used to evaluate the response of a semi-active control of a structure employing an MR damper. Experimental results show good agreement with the predicted responses, demonstrating the effectiveness of the method for structural control performance assessment.
基金National Natural Science Foundation of China under Grant Nos.51725901 and 51639006
文摘Tuned liquid damper (TLD) and tuned liquid column damper (TLCD) are two types of passive control devices that are widely used in structural control. In this study, a real-time hybrid simulation (RTHS) technique is employed to investigate the diff erence in control performance between TLD and TLCD. A series of RTHSs is presented with the premise of the same liquid length, mass ratio, and structural parameters. Herein, TLD and TLCD are physically experimented, and controlled structures are numerically simulated. Then, parametric studies are performed to further evaluate the diff erent performance between TLD and TLCD. Experimental results demonstrate that TLD is more eff ective than TLCD under diff erent amplitude excitations.
文摘The hydropower running and performance can be displayed and analyzed by the real-time remote system. Real-time performance data of the hydraulic turbine unit can be obtained through the analysis of real-time operating data of the hydraulic turbine unit. It can not only guide significance for long-term operation of hydraulic turbine unit, but also provide a reference for improving the Hydropower hydro efficiency, economic dispatch of hydraulic turbine unit and performance comparison before and after the overhaul.
文摘A technology called solar energy is a very promising technique, and is considered as the cleanest and the most abundant renewable resource that is naturally available every day. In this paper, a MATLAB environment has been developed to calculate real-time power incidence on a PV system. It takes into account the time, location, PV tilt, and azimuth angles, and weather conditions to estimate incident power. In this paper, one case study is considered at New York State location. It has been applied to a newly installed 8 kW residential system located in Inwood. The solar panels are made up of silicon HIT (Heterojunction with Intrinsic Thin Layer) cells by Panasonic and solar cell rated at 19%. The result shows that the system is performing at its rated efficiency. The calculations involve the determination of direct, diffused and reflected radiation on the panels taking into account the time of the day, location, PV area, and orientations and weather conditions. The cloudiness index may be estimated based on the weather data and included in the calculations. After performing the irradiance calculations, the output power is estimated based on the rated efficiency at its temperature and compared with the generated output power. The real-time assessment of a PV system performance, during the operational time monitors the health of the PV system. The data obtained by this calculator may accompany production data provided to the consumer by the utility company.
文摘This article focuses on the performance analysis of both real-time and post-mission kinematic precise point positioning(PPP)in challenging marine environments.For this purpose,a real dynamic experiment lasting 6 h was carried out on a lake dam in?orum City of Turkey.While the kinematic test was continuing,the real-time PPP coordinates were obtained for each measurement epoch with a commercial real-time PPP(RT-PPP)service,namely the Trimble Center Point RTX.Then the post-mission PPP(PM-PPP)coordinates were calculated by using Multi-GNSS data and the Multi-GNSS Experiment(MGEX)precise products.The kinematic RT-PPP and PM-PPP results showed that the PPP coordinates were consistent with the relative solution at centimetre and decimetre level in horizontal and height components,respectively.This study implies that PPP technique is a powerful tool for highly accurate positioning in both real-time and post-mission modes,even for dynamic applications in harsh environments.
基金This project was supported by the National Natural Science Foundation of China(60135020) National Key Pre-researchProject of China(413010701 -3) .
文摘A novel reconfigurable hardware system which uses both muhi-DSP and FPGA to attain high performance and real-time image processing are presented. The system structure and working principle of mainly processing multi-BSP board, extended multi-DSP board are analysed. The outstanding advantage is that the communication among different board components of this system is supported by high speed link ports & serial ports for increasing the system performance and computational power. Then the implementation of embedded real-time operating systems (RTOS) by us is discussed in detail. In this system, we adopt two kinds of parallel structures controlled by RTOS for parallel processing of algorithms. The experimental results show that exploitive period of the system is short, and maintenance convenient. Thus it is suitable for real-time image processing and can get satisfactory effect of image recognition.
基金Supported by the National Natural Science Foundation of China(No.60803148,60973124)
文摘Actors'relocation is utilized during the network initialization to enhance real-time performance of wireless sensor and actor networks(WSANs)which is an important issue of WSANs.The actor deployment problem in WSANs is proved NP-Hard whether the amount of actors is redundant or not,but to the best of our knowledge,no effective distributed algorithms in previous research can solve the problem.Thus two actor deployment strategies which need not the boundary control compared with present deployment strategies are proposed to solve this problem approximately based on the Voronoi diagram.Through simulation experiment,the results show that our distributed strategies are more effective than the present deployment strategies in terms of real-time performance,convergence time and energy consumption.
文摘Fire rescue challenges and solutions have evolved from straightfor-ward plane rescue to encompass 3D space due to the rise of high-rise city buildings.Hence,this study facilitates a system with quick and simplified on-site launching and generates real-time location data,enabling fire rescuers to arrive at the intended spot faster and correctly for effective and precise rescue.Auto-positioning with step-by-step instructions is proposed when launching the locating system,while no extra measuring instrument like Total Station(TS)is needed.Real-time location tracking is provided via a 3D space real-time locating system(RTLS)constructed using Ultra-wide Bandwidth technology(UWB),which requires electromagnetic waves to pass through concrete walls.A hybrid weighted least squares with a time difference of arrival(WLS/TDOA)positioning method is proposed to address real path-tracking issues in 3D space and to meet RTLS requirements for quick computing in real-world applications.The 3D WLS/TDOA algorithm is theoretically constructed with the Cramer-Rao lower bound(CRLB).The computing complexity is reduced to the lower bound for embedded hardware to directly compute the time differential of the arriving signals using the time-to-digital converter(TDC).The results of the experiments show that the errors are controlled when the positioning algorithm is applied in various complicated situations to fulfill the requirements of engineering applications.The statistical analysis of the data reveals that the proposed UWB RTLS auto-positioning system can track target tags with an accuracy of 0.20 m.