Master-Slave机器手协调控制选择行列式算法

提出了一种基于选择行列式的Master-Slave机器手的协调控制算法。通过选择行列式的导入,实现了对Master机器手和Slave机器手各个变量的协调控制。本方法应用于装有视觉传感器的机器手的追踪控制,经过实验证明了基于选择行列式的算法能够实现人类的某些技能赋予机器手,在支援机器手的同时还能够通过有效地协调遥控,完成机器手的自主控制。

A Master-Slave Blockchain Paradigm and Application in Digital Rights Management

Upon flaws of current blockchain platforms of heavyweight, large capacity of ledger, and time-consuming of synchronization of data, in this paper, we proposed a new paradigm of master-slave blockchain scheme(MSB) for pervasive computing that suitable for general PC, mobile device such as smart phones or PADs to participants in the working of mining and verification, in which we separated traditional blockchain model in 2 layer defined as master node layer and a series of slavery agents layer, then we proposed 2 approaches for partially computing model(PCM) and non-computing of model(NCM) in the MSB blockchain, Finally large amounts of simulations manifest the proposed master-slave blockchain scheme is feasible, extendible and suitable for pervasive computing especially in the 5 G generation environment, and can apply in the DRM-related applications.

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.

A master-slave generalized predictive synchronization control for preheating process of multi-cavity hot runner system

As a key component of injection molding,multi-cavity hot runner(MCHR)system faces the crucial problem of polymer melt filling imbalance among the cavities.The thermal imbalance in the system has been considered as the leading cause.Hence,the solution may rest with the synchronization of those heating processes in MCHR system.This paper proposes a’Master-Slave’generalized predictive synchronization control(MS-GPSC)method with’Mr.Slowest’strategy for preheating stage of MCHR system.The core of the proposed method is choosing the heating process with slowest dynamics as the’Master’to track the setpoint,while the other heating processes are treated as‘Slaves’tracking the output of’Master’.This proposed method is shown to have the good ability of temperature synchronization.The corresponding analysis is conducted on parameters tuning and stability,simulations and experiments show the strategy is effective.

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.

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.

Recordset持久性的应用

介绍了ADO对象所提供的Recordset持久性功能、操作方法并举例说明此功能在减少数据库负担方面的应用。

浅析ASP中RECORDSET对象对游标的使用

游标是检索数据库的灵活手段,是提取记录的有效机制,本文主要针对其在ASP中几种游标的功能及具体使用方法进行对比及介绍。

一种基于ADO Recordset技术的Web数据分页方法的改进

数据分页是基于数据库的动态Web系统所必需的技术。Microsoft公司的ADO(Active Data Object)数据存取技术提供了一种基于Recordset的数据分页方法,该方法简单易用,却由于效率原因,不适用大数据量的快速定位分页。文章对该方法从根本上进行了改进,获得了非常明显的效果,完全适用于企业级应用的海量数据分页定位。

Development of high-power microwave mechanical integrated continuous mining device

This article introduces a high-power microwave mechanical integrated continuous mining device,which can achieve synchronous cutting of hard rocks by microwave and machinery.The device includes a cutting system,a rotary translation system,a loading system,a high-power microwave system,and a control and monitoring system.The technology of“master-slave follow-up”disc cutter alternating side cutting of rock was proposed,which could improve the effectiveness of rock breaking.The integrated structure of a microwave-cut system was then proposed,and synchronous motion of the microwave-cut system and adjustment of the loading system could be realized.The automatic adjustment technology of the microwave working distance was developed to dynamically control the optimal microwave working distance.The basic functions of the equipment were verified by tests.By comparing the two types of disk cutters,it is found that the master-slave follow-up disk cutter can improve significantly the dust removal effect and rock breaking efficiency in rock breaking process versus the conventional large disc cutter.Cutting tests of slate with or without microwave were conducted using a master-slave follow-up disk cutter.The results show that the cutting patterns of slates change from intermittent chunks(without microwave irradiation)to persistent debris(with microwave irradiation),and the cutting speed is significantly improved(170%).The development of the device provides a scientific basis for changing the conventional mining technology of metal mines and realizing the mechanical continuous mining in hard metal mines.

基于数据库的文档管理系统及其在企业中的应用

讨论了基于数据库的文档管理系统的解决方案及其实现的关键技术 ,特别是通过ADO中的Stream对象对数据库中的文档资料进行读写 。

数据服务中间件中数据表示的实现技术分析

针对数据服务中间件进行数据表示时普遍采用的视图和主从式数据集等技术,分析了影响它们执行效率的因素,并采用动态生成SQL命令和限定基础数据集大小的处理方式大大降低了数据提取和重组的时间开销,有效地提升了数据服务中间件的执行效率,实现了对客户应用数据请求的快速响应.

用ASP/ADO实现的Web数据浏览分页显示

随着数据库数据记录量的增大,要把数据记录完全下载到浏览器上需要很长时间。针对网站数据库的特点,提出了利用ASP/ADO的对象实现网站数据库查询及其分页显示的通用方法,并给出了分页显示的具体实例,讨论了其具体实现的过程。结果表明,该方法具有很好的扩展性和易于实现的特点。

分布式并行粒子滤波算法结构分析与研究

粒子滤波器是解决非线性/非高斯系统状态估计的有效技术,广泛应用于目标跟踪、无线通信、自动控制等领域。但因其计算复杂、计算量庞大等缺陷,无法满足实时系统的应用需求。针对粒子滤波器计算量大、实时性差的问题,提出了一种基于MPI的分布式并行粒子滤波算法,给出了Master-Slave并行模式下任务分配、数据划分与负载平衡策略。实验结果表明,若忽略通信代价,加速比基本呈线性增长。

ADO数据存取技术

本文介绍了微软公司以ＡｃｔｉｖｅＸ技术为基础的ＡＤＯ数据存取技术，分析了ＡＤＯ的工作原理。