SET-MRTS:An Empirical Experiment Tool for Real-Time Scheduling and Synchronization

In the real-time scheduling theory,schedulability and synchronization analyses are used to evaluate scheduling algorithms and real-time locking protocols,respectively,and the empirical synthesis experiment is one of the major methods to compare the performance of such analyses.However,since many sophisticated techniques have been adopted to improve the analytical accuracy,the implementation of such analyses and experiments is often time-consuming.This paper proposes a schedulability experiment toolkit for multiprocessor real-time systems(SET-MRTS),which provides a framework with infrastructures to implement the schedulability and synchronization analyses and the deployment of empirical synthesis experiments.Besides,with well-designed peripheral components for the input and output,experiments can be conducted easily and flexibly on SET-MRTS.This demonstration further proves the effectiveness of SET-MRTS in both functionality and availability.

Real-time localization for underwater equipment using an extremely low frequency electric field

A new real-time underwater equipment location method adopting an electric field induced by a standard current source is proposed.Our goals were real-time tracking and location of stationary or moving underwater equipment both in shallow and deep seas,under noisy conditions.The main features of this method are as follows:(1)a standard current source on the water surface,which can be towed by a vehicle,consisting of two electrodes,a signal generator,and a GPS unit;(2)measurement of the extremely low frequency(ELF)electric field emitted by the current source,made possible by electric field sensors on the underwater equipment;(3)position of the underwater equipment is estimated in real time based on a progressive update extended Kalman filter(PUEKF),which is carried out using the propagation model of an ELF electric field because the electric field at the position of the underwater equipment and the current source position are known.We verified the accuracy of our method and confirmed real-time location feasibility through numerical,physical scale,and real-time sea experiments.Through numerical experiments,we verified that our method works for underwater equipment location in real-world conditions,and the location error can be less than 0.2 m.Next,real-time location experiments for stationary underwater measuring equipment in water tank were conducted.The result shows that the location error can be less than 0.1 m.We also confirmed real-time location feasibility through the use of offshore experiment.We expect that our method will complement conventional underwater acoustic location methods for underwater equipment in acoustically noisy environments.

Influences of Network Delay on Quality of Experience for Soft Objects in Networked Real-Time Game with Haptic Sense

In this paper, we investigate the influences of network delay on QoE (Quality of Experience) such as the operability of haptic interface device and the fairness between players for soft objects in a networked real-time game subjectively and objectively. We handle a networked balloon bursting game in which two players burst balloons (i.e., soft objects) in a 3D virtual space by using haptic interface devices, and the players compete for the number of burst balloons. As a result, we find that the operability depends on the network delay from the local terminal to the other terminal, and the fairness is mainly dependent on the difference in network delay between the players’ terminals. We confirm that there exists a trade-off relationship between the operability and the fairness. We also see that the contribution of the fairness is larger than that of the operability to the comprehensive quality (i.e., the weighted sum of the operability and fairness). Assessment results further show that the output timing of terminals should be adjusted to the terminal which has the latest output timing to maintain the fairness when the difference in network delay between the terminals is large. In this way, the comprehensive quality at each terminal can be maintained as high as possible.

Two-Phase Rate Adaptation Strategy for Improving Real-Time Video QoE in Mobile Networks

With the popularity of smart handheld devices, mobile streaming video has multiplied the global network traffic in recent years. A huge concern of users' quality of experience(Qo E) has made rate adaptation methods very attractive. In this paper, we propose a two-phase rate adaptation strategy to improve users' real-time video Qo E. First, to measure and assess video Qo E, we provide a continuous Qo E prediction engine modeled by RNN recurrent neural network. Different from traditional Qo E models which consider the Qo E-aware factors separately or incompletely, our RNN-Qo E model accounts for three descriptive factors(video quality, rebuffering, and rate change) and reflects the impact of cognitive memory and recency. Besides, the video playing is separated into the initial startup phase and the steady playback phase, and we takes different optimization goals for each phase: the former aims at shortening the startup delay while the latter ameliorates the video quality and the rebufferings. Simulation results have shown that RNN-Qo E can follow the subjective Qo E quite well, and the proposed strategy can effectively reduce the occurrence of rebufferings caused by the mismatch between the requested video rates and the fluctuated throughput and attains standout performance on real-time Qo E compared with classical rate adaption methods.

Semi-implantable device based on multiplexed microfilament electrode cluster for continuous monitoring of physiological ions

Modern medicine is increasingly interested in advanced sensors to detect and analyze biochemical indicators.Ion sensors based on potentiometric methods are a promising platform for monitoring physiological ions in biological subjects.Current semi-implantable devices are mainly based on single-parameter detection.Miniaturized semi-implantable electrodes for multiparameter sensing have more restrictions on the electrode size due to biocompatibility considerations,but reducing the electrode surface area could potentially limit electrode sensitivity.This study developed a semi-implantable device system comprising a multiplexed microfilament electrode cluster(MMEC)and a printed circuit board for real-time monitoring of intra-tissue K^(+),Ca^(2+),and Na^(+)concentrations.The electrode surface area was less important for the potentiometric sensing mechanism,suggesting the feasibility of using a tiny fiber-like electrode for potentiometric sensing.The MMEC device exhibited a broad linear response(K^(+):2–32 mmol/L;Ca^(2+):0.5–4 mmol/L;Na^(+):10–160 mmol/L),high sensitivity(about 20–45 mV/decade),temporal stability(>2weeks),and good selectivity(>80%)for the above ions.In vitro detection and in vivo subcutaneous and brain experiment results showed that the MMEC system exhibits good multi-ion monitoring performance in several complex environments.This work provides a platform for the continuous real-time monitoring of ion fluctuations in different situations and has implications for developing smart sensors to monitor human health.

Fuzzy Sliding Mode Control Based on Longitudinal Force Estimation for Electro-mechanical Braking Systems using BLDC Motor

This paper focuses on the controller design using fuzzy sliding mode control(FSMC)with application to electro-mechanical brake(EMB)systems using BLDC Motor.The EMB controller transmits the control signal to the motor driver to rotate the motor.The torque distribution of motors is studied in this paper actually.Firstly,the model of the EMB system is established.Then the state observer is developed to estimate the vehicle states including the vehicle velocity and longitudinal force.Due to the fact that the EMB system is nonlinear and uncertain,a FSMC strategy based on wheel slip ratio is proposed,where both the normal and emergency braking conditions are taken into account.The equivalent control law of sliding mode controller is designed on the basis of the variation of the front axle and rear axle load during the brake process,while the switching control law is adjusted by the fuzzy corrector.The simulation results illustrate that the FSMC strategy has the superior performance,better adaptability to various types of roads,and shorter braking distance,as compared to PID control and traditional sliding mode control technologies.Finally,the hardware-in-loop(HIL)experimental results have exemplified the validation of the developed methodology.

关节臂式坐标测量机数据采集系统的关键点设计

对关节臂式坐标测量机数据采集系统的几个关键点进行了分析设计,其中包括数据同步锁存、对径读数、坐标实时显示.通过可编程逻辑器件(CPLD)与单片机的结合,完成了光栅信号的滤波、4细分、辨向及可逆计数等功能.实验证明,该设计能够准确完成测量机的数据采集. Abstract： Several key pints of articulated arm - cmm data acquisition system are analyzed and designed, including data synchronous latches, pair-radius readings, and coordinates real-time display. The combination of CPLD and AVR microcontroller completes the functions of grating signal faltering, 4 subdivided, discerning direction and reversible counting, and so on. According to the experiment , the data collection of the machine can be complete accurately.

Calibration of pulse transit time through a cable for EAS experiments

In ground-based extensive air shower expemments, the chrection and energy are reconstructecl Dy mea- suring the relative arrival time of secondary particles, and the energy they deposit. The measurement precision of the arrival time is crucial for determination of the angular resolution. For this purpose, we need to obtain a precise relative time offset for each detector and to apply the calibration process. The time offset is associated with the pho- tomultiplier tube, cable, relevant electronic circuits, etc. In view of the transit time through long cables being heavily dependent on the ambient temperature, a real-time calibration method for the cable transit time is investigated in this paper. Even with a poor-resolution time-to-digital converter, this method can achieve high precision. This has been successfully demonstrated with the Front-End-Electronic board used in the Daya Bay neutrino experiment.

Mechanistic Model versus Artificial Neural Network Model of a Single-Cell PEMFC

Model-based controllers can significantly improve the performance of Proton Exchange Membrane Fuel Cell (PEMFC) systems. However, the complexity of these strategies constraints large scale implementation. In this work, with a view to reduce complexity without affecting performance, two different modeling approaches of a single-cell PEMFC are investigated. A mechanistic model, describing all internal phenomena in a single-cell, and an artificial neural network (ANN) model are tested. To perform this work, databases are measured on a pilot plant. The identification of the two models involves the optimization of the operating conditions in order to build rich databases. The two different models benefits and drawbacks are pointed out using statistical error criteria. Regarding model-based control approach, the computational time of these models is compared during the validation step.

Prediction model for spring dust weather frequency in North China

It is of great social and scientific importance and also very difficult to make reliable prediction for dust weather frequency (DWF) in North China. In this paper, the correlation between spring DWF in Beijing and Tianjin observation stations, taken as examples in North China, and seasonally averaged surface air temperature, precipitation, Arctic Oscillation, Antarctic Oscillation, South Oscillation, near surface meridional wind and Eurasian westerly index is respectively calculated so as to construct a prediction model for spring DWF in North China by using these climatic factors. Two prediction models, i.e. model-I and model-II, are then set up respectively based on observed climate data and the 32-year (1970 -2001) extra-seasonal hindcast experiment data as reproduced by the nine-level Atmospheric General Circulation Model developed at the Institute of Atmospheric Physics (IAP9L-AGCM). It is indicated that the correlation coefficient between the observed and predicted DWF reaches 0.933 in the model-I, suggesting a high prediction skill one season ahead. The corresponding value is high up to 0.948 for the subsequent model-II, which involves synchronous spring climate data reproduced by the IAP9L-AGCM relative to the model-I. The model-II can not only make more precise prediction but also can bring forward the lead time of real-time prediction from the model-I’s one season to half year. At last, the real-time predictability of the two models is evaluated. It follows that both the models display high prediction skill for both the interannual variation and linear trend of spring DWF in North China, and each is also featured by different advantages. As for the model-II, the prediction skill is much higher than that of original approach by use of the IAP9L-AGCM alone. Therefore, the prediction idea put forward here should be popularized in other regions in China where dust weather occurs frequently.

Nonlinear robust control of a quadrotor helicopter with finite time convergence

In this paper, the control problem for a quadrotor helicopter which is subjected to modeling uncertainties and unknown external disturbance is investigated. A new nonlinear robust control strategy is proposed. First, a nonlinear complementary filter is developed to fuse the raw data from the onboard barometer and the accelerometer to decrease the negative effects from the noise associated with the low-cost onboard sensors Then the adaptive super-twisting methodology is combined with a backstepping method to formulate the nonlinear robust controller for the quadrotor＇s attitude angles and the altitude position. Lyapunov based stability analysis shows that finite time convergence is ensured for the closed-loop operation of the quadrotor＇s roll angle, pitch angle, row angle and the altitude position. Real-time flight experimental results, which are performed on a quadrotor flight testbed, are included to demonstrate the good control performance of the proposed control methodology.