This paper presents fuzzy-based design for the control of overhead crane. Instead of analyzing the complex nonlinear crane system, the proposed approach uses simple but effective way to control the crane. There are tw...This paper presents fuzzy-based design for the control of overhead crane. Instead of analyzing the complex nonlinear crane system, the proposed approach uses simple but effective way to control the crane. There are twin fuzzy controllers which deal with the feedback information, the position of trolley crane and the swing angle of load, to suppress the sway and accelerate the speed when the crane transports the heavy load. This approach simplifies the designing procedure of crane controller; besides, the twin controller method reduces the rule number when fulfilling the fuzzy system. Finally, experimental results through the crane model demonstrate the effectiveness of the scheme.展开更多
移动自组网(Mobile Ad Hoc Network, MANET)主要应用于军事活动、灾后救援等大规模的活动中,随着节点数的增加、移动速度的加快,网络拓扑变得更加复杂,网络稳定性和性能也随之下降。频繁的网络拓扑变化会导致簇结构变得不稳定并且控制...移动自组网(Mobile Ad Hoc Network, MANET)主要应用于军事活动、灾后救援等大规模的活动中,随着节点数的增加、移动速度的加快,网络拓扑变得更加复杂,网络稳定性和性能也随之下降。频繁的网络拓扑变化会导致簇结构变得不稳定并且控制开销也会增加。为了解决这一问题,提出了一种改进的加权分簇算法,通过仿真表明,该算法可以有效地提高大规模移动自组网的性能。展开更多
Solving the controller placement problem (CPP) in an SDN architecture with multiple controllers has a significant impact on control overhead in the network, especially in multihop wireless networks (MWNs). The generat...Solving the controller placement problem (CPP) in an SDN architecture with multiple controllers has a significant impact on control overhead in the network, especially in multihop wireless networks (MWNs). The generated control overhead consists of controller-device and inter-controller communications to discover the network topology, exchange configurations, and set up and modify flow tables in the control plane. However, due to the high complexity of the proposed optimization model to the CPP, heuristic algorithms have been reported to find near-optimal solutions faster for large-scale wired networks. In this paper, the objective is to extend those existing heuristic algorithms to solve a proposed optimization model to the CPP in software-<span>defined multihop wireless networking</span><span> (SDMWN).</span>Our results demonstrate that using ranking degrees assigned to the possible controller placements, including the average distance to other devices as a degree or the connectivity degree of each placement, the extended heuristic algorithms are able to achieve the optimal solution in small-scale networks in terms of the generated control overhead and the number of controllers selected in the network. As a result, using extended heuristic algorithms, the average number of hops among devices and their assigned controllers as well as among controllers will be reduced. Moreover, these algorithms are able tolower<span "=""> </span>the control overhead in large-scale networks and select fewer controllers compared to an extended algorithm that solves the CPP in SDMWN based on a randomly selected controller placement approach.展开更多
The control of underactuated mechanical systems is very complex for the loss of its control inputs. The model of underactuated mechanical systems in a potential field is built with Lagrangian method and its structural...The control of underactuated mechanical systems is very complex for the loss of its control inputs. The model of underactuated mechanical systems in a potential field is built with Lagrangian method and its structural properties are analyzed in detail. A stable control approach is proposed for the class of underactuated mechanical systems. This approach is applied to an underactuated double-pendulum-type overhead crane and the simulation results illustrate the correctness of dynamics analysis and validity of the proposed control algorithm.展开更多
优化链路状态路由(Optimized Link State Routing,OLSR)协议是一种先验式路由协议,网络中的所有节点通过周期性地发送控制消息来计算全网路由信息。在短波自组织网络中,节点周期性地发送控制消息会占据大量的信道资源,大幅增加网络的控...优化链路状态路由(Optimized Link State Routing,OLSR)协议是一种先验式路由协议,网络中的所有节点通过周期性地发送控制消息来计算全网路由信息。在短波自组织网络中,节点周期性地发送控制消息会占据大量的信道资源,大幅增加网络的控制开销,浪费短波有限的带宽资源,导致网络通信性能急剧下降。其次,受到地形地貌、天线方向和接收性能的个体差异等影响,造成无线链路不稳定,导致网络中存在非对称链路,增加了通信端到端时延。为此,提出了一种低时延的短波自组网OLSR协议。该协议在执行MPR(Multipoint Relay)选择算法时综合考虑了节点的连接度和链路可靠性,在优化MPR节点个数的同时选择链路可靠性较大的节点作为MPR节点,在进行路由选择时能够利用网络中的非对称链路。仿真结果表明,该协议能优化数据包投递成功率、吞吐量、端到端时延和网络控制开销等性能指标。展开更多
基金This work was supported bythe National Science Council ofthe Republic of China (No .NSC-91-2213-E-231-007) .
文摘This paper presents fuzzy-based design for the control of overhead crane. Instead of analyzing the complex nonlinear crane system, the proposed approach uses simple but effective way to control the crane. There are twin fuzzy controllers which deal with the feedback information, the position of trolley crane and the swing angle of load, to suppress the sway and accelerate the speed when the crane transports the heavy load. This approach simplifies the designing procedure of crane controller; besides, the twin controller method reduces the rule number when fulfilling the fuzzy system. Finally, experimental results through the crane model demonstrate the effectiveness of the scheme.
文摘移动自组网(Mobile Ad Hoc Network, MANET)主要应用于军事活动、灾后救援等大规模的活动中,随着节点数的增加、移动速度的加快,网络拓扑变得更加复杂,网络稳定性和性能也随之下降。频繁的网络拓扑变化会导致簇结构变得不稳定并且控制开销也会增加。为了解决这一问题,提出了一种改进的加权分簇算法,通过仿真表明,该算法可以有效地提高大规模移动自组网的性能。
文摘Solving the controller placement problem (CPP) in an SDN architecture with multiple controllers has a significant impact on control overhead in the network, especially in multihop wireless networks (MWNs). The generated control overhead consists of controller-device and inter-controller communications to discover the network topology, exchange configurations, and set up and modify flow tables in the control plane. However, due to the high complexity of the proposed optimization model to the CPP, heuristic algorithms have been reported to find near-optimal solutions faster for large-scale wired networks. In this paper, the objective is to extend those existing heuristic algorithms to solve a proposed optimization model to the CPP in software-<span>defined multihop wireless networking</span><span> (SDMWN).</span>Our results demonstrate that using ranking degrees assigned to the possible controller placements, including the average distance to other devices as a degree or the connectivity degree of each placement, the extended heuristic algorithms are able to achieve the optimal solution in small-scale networks in terms of the generated control overhead and the number of controllers selected in the network. As a result, using extended heuristic algorithms, the average number of hops among devices and their assigned controllers as well as among controllers will be reduced. Moreover, these algorithms are able tolower<span "=""> </span>the control overhead in large-scale networks and select fewer controllers compared to an extended algorithm that solves the CPP in SDMWN based on a randomly selected controller placement approach.
基金Supported by National Natural Science Foundation of P.R.China (60575047)
文摘The control of underactuated mechanical systems is very complex for the loss of its control inputs. The model of underactuated mechanical systems in a potential field is built with Lagrangian method and its structural properties are analyzed in detail. A stable control approach is proposed for the class of underactuated mechanical systems. This approach is applied to an underactuated double-pendulum-type overhead crane and the simulation results illustrate the correctness of dynamics analysis and validity of the proposed control algorithm.
文摘优化链路状态路由(Optimized Link State Routing,OLSR)协议是一种先验式路由协议,网络中的所有节点通过周期性地发送控制消息来计算全网路由信息。在短波自组织网络中,节点周期性地发送控制消息会占据大量的信道资源,大幅增加网络的控制开销,浪费短波有限的带宽资源,导致网络通信性能急剧下降。其次,受到地形地貌、天线方向和接收性能的个体差异等影响,造成无线链路不稳定,导致网络中存在非对称链路,增加了通信端到端时延。为此,提出了一种低时延的短波自组网OLSR协议。该协议在执行MPR(Multipoint Relay)选择算法时综合考虑了节点的连接度和链路可靠性,在优化MPR节点个数的同时选择链路可靠性较大的节点作为MPR节点,在进行路由选择时能够利用网络中的非对称链路。仿真结果表明,该协议能优化数据包投递成功率、吞吐量、端到端时延和网络控制开销等性能指标。
