一种新型可变径管道机器人的结构设计与控制实现

基于ATmega128单片机的管道探测机器人系统,包括硬件系统设计以及软件程序实现。为满足不同工业环境的需要,设计了无线与RS485总线两套通信方案进行人机交互控制系统与单片机的通信。独特的变径结构可以让机器人适应不同管径的管道,配合高效的电池切换算法,可以使其更好的适应工业环境。为了观察管道内部信息,安装了一个可360°旋转的摄像头,将管道内部画面实时传送给上位机。     

基于集群计算的移动自组网络节能路由协议

节能问题在移动自组网络中已成为一个越来越重要的设计标准。提出了一种基于集群计算的低功耗路由协议——Cluster—based Energy Saving Routing Protocol（CESP）。其原理是使网络中的若干个节点以一个集群的方式工作在一个特定的节点周围．这个特殊的节点我们称之为集群指挥节点（Cluster Commanding Node—CCN）。集群指挥节点集中管理整个集群节点的能源管理机制,并且在该集群与同一网络中其他节点进行通信的时候起到代理节点的作用。当一个普通的集群节点启用了能源管理机制,它便进入节能模式以使能源消耗最小化。同时,集群管理节点采取缓存数据帧的方式来节能,仅当它接受到相应请示的时候才进行数据发送。     

基于定位辅助和能量有效的超宽带网路由算法

文中在分析了超宽带（Ultra-Wideband，UWB）技术特点的基础上，与Ad Hoc网络已有的路由协议结合，提出了一种基于定位辅助和能量有效的超宽带自组网路由算法。仿真表明，该算法能够显著延长网络生存时间，均衡节点电量消耗。     

一种新的跨层功率控制无线传感器网络路由协议

无线传感器网络中通信终端的能量非常有限,但在许多应用场景下,节点的能量消耗较大,因此采用有效的功率控制策略非常重要。利用信道增益的对称性,在AODV协议的基础上提出了一种不依赖于地理位置信息的跨层功率控制路由协议PBAODV(Power aware Based AODV),分析与实验表明该协议在不影响其他网络性能指标的前提下,有效的降低了系统整体能耗。     

DVS系统硬实时周期任务动态调度算法

与实时任务的可调度分析不同,实时DVS调度在保证任务截止时间限制同时,还要关注任务执行的处理器功耗。功耗研究一段时间的累积效果,传统基于最坏执行时间的任务调度模型不能满足实时DVS调度需要。该文采用实际执行时间(AET)概率分布建立实时任务调度模型,利用随机分析的方法分析AET分布对实时DVS调度算法性能的影响,提出了基于平均执行时间的实时DVS动态调度算法。实验结果表明,该算法在任务具有不同AET分布情况下可保持稳定的功耗性能。     

无线Ad Hoc网络中功率感知路由协议的研究

能量节省是无线Ad Hoc网络中的一个研究重点.功率感知路由协议不但可以解决无线Ad Hoc网络的节能问题,同时还能够提高网络的性能.文章对目前提出的功率感知路由协议进行了分类,并分别进行了描述,最后指出了功率感知路由协议的未来研究方向.     

Probabilistic Power Management for Wireless Ad Hoc Networks

Extending system lifetime by effectively managing power on participating nodes is critical in wireless ad hoc networks. Recent work has shown that, by appropriately powering off nodes, energy may be significantly saved up to a factor of two, especially when node density is high. Such approaches rely on the selection of a virtual backbone (i.e., a connected dominating set) of the topology to forward ongoing traffic, coupled with algorithms to manually and periodically recompute such a backbone for load balancing purposes. The common drawback of such schemes is the need to involve periodic message exchanges and to make additional restrictive assumptions. This paper presents Odds¹, an integrated set of energy-efficient and fully distributed algorithms for power management in wireless ad hoc networks. Odds build on the observation that explicit and periodic re-computation of the backbone topology is costly with respect to its additional bandwidth overhead, especially when nodes are densely populated or highly mobile. Building on a fully probabilistic approach, Odds seek to make a minimum overhead, perfectly balanced, and fully localized decision on each node with respect to when and how long it needs to enter standby mode to conserve energy. Such a decision does not rely on periodic message broadcasts in the local neighborhood, so that Odds are scalable as node density increases. Detailed mathematical analysis, discussions and simulation results have shown that Odds are indeed able to achieve our objectives while operating in a wide range of density and traffic loads.Zongpeng Li received his B.Engr. in 1999, from Department of Computer Science and Technology, Tsinghua University, China, and his M.S. degree in 2001 from the Department of Computer Science, University of Toronto. He is currently working towards his Ph.D. degree in the Department of Electrical and Computer Engineering, University of Toronto. His research interests include algorithm design and analysis for both wireless and wireline networks.Baochun Li received his B.Engr. degree in 1995 from Department of Computer Science and Technology, Tsinghua University, China, and his M.S. and Ph.D. degrees in 1997 and 2000 from the Department of Computer Science, University of Illinois at Urbana-Champaign. Since 2000, he has been with the Department of Electrical and Computer Engineering at the University of Toronto, where he is an Assistant Professor. In 2000, he was the recipient of the IEEE Communications Society Leonard G. Abraham Award in the Field of Communications Systems. His research interests include network-level and application-level Quality of Service provisioning, application-layer overlay networks, wireless ad hoc networks, and mobile computing.     

Power-Aware Design of An 8-Bit Pipelining ANT-Based CLA Using Data Transition Detection

A high speed and low-power 8-bit carry-lookahead adder (CLA) using two-phase all-N-transistor (ANT) blocks which are arranged in a PLA design style with power-aware pipelining is presented. The pull-up charging and pull-down discharging of the transistor arrays of the PLA are accelerated by inserting two feedback MOS transistors between the evaluation NMOS blocks and the outputs. The analysis of the area (transistor count) tradeoff is also provided in this work. The output of the addition of two 8-bit binary numbers is done in two cycles. The proposed power-aware pipelining design methodology using a simple data transition detection circuit takes advantage of shutting down the processing stages with identical inputs in two consecutive cycles. The data transition detection circuit is used to monitor the state switching of input data. Not only is it proved to be also suitable for long adders, the power consumption is drastically reduced by at most 50% at every process corner.

A Dynamic Voltage Scaling Algorithm for Dynamic Workloads

Dynamic Voltage Scaling (DVS) is a promising method to achieve energy saving by slowing down the processor into multiple frequency levels in battery-operated embedded systems. However, the worst case execution time (WCET) of the tasks scheduled by DVS must be known ahead of time to ensure their schedulability. In reality, a system’s workloads may change significantly without satisfying any prediction. In other words, a task’s WCET may not provide useful information about its future real execution time (RET). This paper presents a novel Dynamic-Mode EDF scheduling algorithm when workloads change significantly. One of the Single-Mode, Dual-Mode, and Three-Mode frequency setting formats can be applied, based on the RET and the accumulated slack at run-time. Only one combination of the number of modes/speeds, speed-switching transition points, and the frequency scaling factor for each mode can lead to the best energy saving. Experimental results show that, given an RET pattern, our Dynamic-Mode DVS algorithm achieves an average 15% energy savings over the traditional two-mode DVS scheme on hard real-time systems. Additionally, we also consider speed-switching or energy transition overhead, and implement a preliminary test of our proposed algorithm. With a less aggressive voltage scaling strategy (fewer speed changes for each job), deadlines can still be strictly satisfied and an average of 14% energy consumption saving over a non-DVS scheme is observed.

一种采用动态电压调整的实时节能调度算法

较高的能量消耗会导致处理器热量的增加及系统可靠性的降低,合理运用动态电压调整技术有效降低实时任务运行所需的能耗成为一个研究热点.提出一种动态实时节能调度算法MSF,以最大空闲时间优先调度为基础,结合动态调整技术,使得实时任务在其截止期内完成的同时能够最大限度地降低整个系统的能量消耗.实验结果表明, 该方法能够充分利用任务的不同能量特性和动态空闲时间,更有效的实现节能,优于其它算法.