A Brief Tour on Exotic Control Objectives in Robotics

Formulation of control objectives is a key issue in automatic control systems design. Although at first sight the desired goal （control objective） of a control system seems to be a trivial and obvious matter, for effectiveness of some high level robotic tasks, unusual exotic control objectives may be required. This paper presents a review of some exotic control objectives useful in robotics, such as velocity field control objective and range control objective. The paper also proposes a novel confinement control objective. The usefulness of these exotic control objectives may appear in safe robot-human interaction and self-protection of robots against collisions.

Tufting Carpet Machine Information Model Based on Object Linking and Embedding for Process Control Unified Architecture

In view of the lack of research on the information model of tufting carpet machine in China,an information modeling method based on Object Linking and Embedding for Process Control Unified Architecture(OPC UA)framework was proposed to solve the problem of“information island”caused by the differentiated data interface between heterogeneous equipment and system in tufting carpet machine workshop.This paper established an information model of tufting carpet machine based on analyzing the system architecture,workshop equipment composition and information flow of the workshop,combined with the OPC UA information modeling specification.Subsequently,the OPC UA protocol is used to instantiate and map the information model,and the OPC UA server is developed.Finally,the practicability of tufting carpet machine information model under the OPC UA framework and the feasibility of realizing the information interconnection of heterogeneous devices in the tufting carpet machine digital workshop are verified.On this basis,the cloud and remote access to the underlying device data are realized.The application of this information model and information integration scheme in actual production explores and practices the application of OPC UA technology in the digital workshop of tufting carpet machine.

Three-dimensional visualization interactive system for digital twin workshop

To improve the human-physical-virtual coordination and integration of the digital twin workshop,3D visual monitoring and human-computer interaction of the digital twin workshop was studied.First,a novel 6D model of the 3D visualization interactive system for digital twin workshops is proposed.As the traditional 5D digital twin model ignores the importance of human-computer interaction,a new dimension of the user terminal was added.A hierarchical real-time data-driven mapping model for the workshop production process is then proposed.Moreover,a real-time data acquisition method for the industrial Internet of things is proposed based on OPC UA(object linking and embedding for process control unified architecture).Based on the 6D model of the system,the process of creating a 3D visualization virtual environment based on virtual reality is introduced,in addition to a data-driven process based on the data management cloud platform.Finally,the 6D model of the system was confirmed using the blade rotor test workshop as the object,and a 3D visualization interactive system is developed.The results show that the system is more transparent,real-time,data-driven and more efficient,as well as promotes the coordination and integration of human-physical-virtual,which has practical significance for developing digital twin workshops.

Concurrency Control Mechanism of Complex Objects

A complex object is an abstraction and description of a complex entity of the real world. Many applications in such domains as CIMS, CAD and OA define and manipulate a complex object as a single unit. In this paper, a definition of the model of complex objects is given, and the concurrency control mechanism of complex objects in WHYMX object-oriented database system is described.

Analysis of the ITIL Mapping with COBIT over the Business Process Continuity Management

Planning and implementation as well as increased control over the Business Continuity Management （BCM） is a complex task in the company requiring adequate resources. BCM aims to reduce risks and develops plans for restoring business activities if they are interrupted by a disaster. The purpose of the paper is to analyze and describe two standards, Information Technology Infrastructure Library （ITIL） and Control Objectives for Information and Related Technology （COBIT）, especially their mapping for the improved planning and implementation of the BCM as well as the increased control over the BCM activities. COBIT is used more as a management framework, providing management tools, such as control objectives, metrics and maturity models in order to complement the control framework. ITIL includes process steps and tasks because it is more oriented towards IT processes （process framework）, defining the best practice for IT service management. Within this mapping, ITIL processes may be used to achieve and demonstrate compliance with COBIT control objectives for BCM process.

Observational linearization and tracking objective excitation control strategy based on phasor measurement unit

To improve the transient stability of multimachine power systems,observational linearization and tracking objective excitation control laws were derived from the phasor measurement unit(PMU),observational linearization,and tracking objective control theory based on synchronized coordinates and reference generator coordinates.The control strategies utilized real-time state variables obtained by PMU to linearize the state equations of the system,and then the linear optimal control strategy was used to design excitation controllers.The inaccuracy of the local linearization method and the complexity of the system models designed in the exact linearization method for nonlinear systems were avoided.Therefore,the control strategies were applied in real time.Simulation results show that the proposed method can improve the transient stability of power systems more efficiently than nonlinear optimal excitation control.