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.

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。

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.

基于纳什谈判和主从博弈的多园区综合能源系统优化调度

为充分考虑多园区综合能源系统(MCIES)中多利益主体间交易合作与多种能量间的耦合关系,提出了1种基于纳什谈判-主从博弈的点对点分布式交易策略。首先,建立考虑综合需求响应的MCIES主从博弈动态定价模型,以园区综合能源系统(CIES)运营商作为领导者,给下层用户制定动态电价与热价,用户响应电价与热价进行综合需求响应,CIES运营商根据用户的需求响应计划调整机组出力;其次,基于纳什谈判理论,建立包含主从博弈动态定价机制与CIES间合作博弈的MCIES双层优化模型;然后,将原问题等效为MCIES收益最大化子问题和合作收益分配最大化子问题,采用交替方向乘子法(ADMM)对模型进行求解。最后,仿真结果表明所提策略可实现CIES联盟利润的最大化,并合理分配收益,同时最小化用户用能成本。

基于切换系统的独立微电网稳定控制设计

独立微电网是一个复杂的非线性系统,为解决典型光储柴独立微电网在能源约束下存在控制单元切换的问题,提出将非线性切换系统理论应用到主从控制下的主控单元切换问题上。首先,当主从控制下的储能系统和柴油发电机分别作为主控单元时,将它们视为两个子系统,建立非线性切换系统模型。然后,应用多Lyapunov函数法分析切换系统的稳定性,同时利用backstepping方法分别设计子系统的非线性控制器,保留系统的非线性特征。最后,采用美国国家能源实验室开发的仿真软件中的硬充电策略作为切换策略,保证切换过程中系统的稳定性。通过MATLAB仿真证明了所设计方法的有效性。

考虑用户碳配额的售电公司新能源电力购售策略研究

随着碳配额制度改革的深入,高排放企业日益增加的新能源电力需求给售电公司传统运营模式带来了新的机遇和挑战。针对高排放企业日益提升的绿色用电需求难以满足的问题,提出主从博弈框架下考虑用户碳配额的售电公司新能源电力购售策略模型。研究通过运用Copula函数、拉丁超立方抽样及K-means聚类生成风光出力典型场景,构建了考虑中长期市场、现货市场、储能、碳交易、绿证交易及差异化售电合同的多市场主从博弈双层优化模型。最后,通过算例分析验证了模型的有效性。

基于Python的平面杆系结构有限元分析

基于Python程序,将杆单元位移不连续、理想刚杆两种力学对象关联统一,开展平面杆系结构有限元模型分析,并实现一种基于“变量标记”的自由度集中处理的计算模式.基于虚功原理引入并推证刚体荷载传递定理,表明耦合单元、刚杆及忽略某一自由度的有限元内置算法处理过程中,实质是将单元刚度矩阵进行“刚化”处理.算例分析表明,“变量标记”的计算模式与单元刚度矩阵的“刚化”处理,具有力学模型的普适性和统一性、编程的可行性以及结果的可靠性等特点,能解决平面任意杆系结构的建模问题.研究结果表明,“主从结点”、“刚杆”等建模方法,对于进一步开展有限元二次开发、大变形以及非线性等功能性扩展等有重要的参加价值,证明将Python程序应用于结构有限元分析的可行性.

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。