可重构制造系统的可重构控制器

可重构控制器是可重构制造系统的重要组成部分之一。该文提出了可重构控制器的体系结构。分析了实现可重构制造系统的可重构控制的方法。仿真研究表明可重构控制是实现可重构制造系统控制系统可重构的有效方法。     

Reconfigurable manufacturing systems: Key to future manufacturing

Presented in this article is a review of manufacturing techniques and introduction of reconfigurable manufacturing systems; a new paradigm in manufacturing which is designed for rapid adjustment of production capacity and functionality, in response to new market conditions. A definition of reconfigurable manufacturing systems is outlined and an overview of available manufacturing techniques, their key drivers and enablers, and their impacts, achievements and limitations is presented. A historical review of manufacturing from the point-of-view of the major developments in the market, technology and sciences issues affecting manufacturing is provided. The new requirements for manufacturing are discussed and characteristics of reconfigurable manufacturing systems and their key role in future manufacturing are explained. The paper is concluded with a brief review of specific technologies and research issues related to RMSs.     

A PC-based open robot control system: PC-ORC

An open architecture manufacturing system pursues to integrate manufacturing components on a single platform. Therefore, a particular component can be easily added and/or replaced. In this paper, a modular and object-oriented approach for the PC-based open robot control (PC-ORC) system is investigated. A standard reference model for controlling robots, which consists of a hardware platform, an operating system module, and various application software modules, is first proposed. Then, PC-ORC system, which can reconfigure the control system in various production environments, is developed. The PC-ORC is constructed based upon the object-oriented method. Hence, it allows an easy implementation and modification of various modules. The PC-ORC consists of basic software, application objects, and additional hardware devices on a PC platform. Finally, by applying the proposed PC-ORC to a SCARA robot, the performance of the PC-ORC is examined.     

PC-based hierarchical manufacturing cell control

Robots in the industrial factory plant build the backbone for CIM, which is outlined to be the factory automation strategy of the future. In this paper a hierarchical manufacturing cell control system for robotic work cells is described. This approach is based on low-cost personal computer hardware and consists of two different control systems, one for the robot control tasks and another for the work cell control tasks. The underlying concept is based on a strategic architectural model for hierarchical manufacturing control, where it focuses on the process sequence coordination and the process control in the bottom hierarchical layers.     

Web-based remote voice control of robotized cells

The main goal of research presented in this paper was to develop an effective tool for remote voice control of robotized cells. This goal has been achieved by proper combination of two techniques: automatic speech recognition and web-based remote control of robotized cells. Comprehensive analysis of existing solutions related to the control with voice commands and those related to the web-based remote control has been performed. Usually the above mentioned topics are dealt with separately. Only few works tried to cope with the problem of how to combine solutions in these two areas. None of them was aimed at industrial applications. Unlike those works, my research is focused on remote voice control of industrial robotized cells. Besides, my approach does not presume application of a small set of simple pre-defined voice commands but it is based on the use of quasi-natural language instead. The main result of this research was the architecture of industrially oriented remote voice control system. Theoretical considerations have been practically verified in the laboratory. According to my knowledge, this laboratory implementation is the first-ever industrially oriented operational remote voice control system based on commands in quasi-natural language.     

Reconfigurable Control Structure for Robots in Assembly

The increased use of changeable characteristics in modern manufacturing and robotic systems and applications call for improved system control design that offers some degree of reconfigurability. The need for control reconfiguration of robotic systems arises due to some inherent characteristics of the robotic system, variations of robot parameters due to environmental changes, major task changes typical in production changeover or manufacturing system reconfiguration, or geometry changes due to the reconfiguration of modular manipulators. In this paper, a reconfigurable controller, the Supervisory Control Switching System (SCSS), is proposed to meet the new on-line demands for changeability in robotic systems. The SCSS is capable of selecting the most suitable controller for a particular task or situation, from separate controllers designed a priori. The applicability and effectiveness of the developed switching control scheme have been illustrated through computer simulations of an AdeptOne SCARA manipulators carrying out assembly tasks.     

Verification of distributed control systems in intelligent manufacturing

This paper presents an application of formal methods for validation of flexible manufacturing systems controlled by distributed controllers. A software tool verification environment for distributed applications (VEDA) is developed for modeling and verification of distributed control systems. The tool provides an integrated environment for formal, model-based verification of the execution control of function blocks following the new international standard IEC61499. The modeling is performed in a closed-loop way using manually developed models of plants and automatically generated models of controllers.     

基于重构构件的安全协议重构择优技术研究

安全协议可重构实现是提升其安全性能和计算性能的有效方法。在深入分析大量现有安全协议体系结构的基础上,提出了一种基于可重构构件的安全协议高性能实现架构,并且针对该架构中可重构构件库择优优化这一关键问题,提出了一种择优方法。该方法基于改进的带权集合覆盖优化算法,结合启发式优化搜索思想,实现了安全协议可重构实现中优化资源使用与减少重构时间的目的。     

一种多核动态可重配置处理器设计

动态可重配置技术因其所具有的高性能，低功耗和高度灵活性等特点，已经成为研究的热点。本文从动态可重配置处理器技术的基本概念，产生背景，实现方案分类等方面进行了介绍。提出了一种多核动态可重配置处理器设计方案。并简述了该技术目前存在的问题，展望了未来的研究方向。     

可重构制造系统的合弄结构研究

可重构制造系统在激烈的市场竞争和产品品种、产品数量陡变的环境中,能够快速重构制造系统环境。该文采用合弄结构对制造系统的基本结构框架进行了分析,建立了基于合弄结构的可重构制造系统的结构框架。     

Controlling the power output of a nuclear reactor with fuzzy logic

The application of fuzzy logic control (FLC) in the domain of nuclear industry presents a tremendous challenge. The main reason for this is the public awareness of the risks of nuclear reactors and the very strict safety regulations in force for nuclear power plants. The very same regulations prevent a researcher from quickly introducing novel control methods into this field. On the other hand, the application of FLC has, despite the ominous sound of the word “fuzzy” to nuclear engineers, a number of very desirable advantages over classical control, e.g. its robustness and the capability to include human experience into the controller. In the present paper we describe an FLC for controlling the power level of a nuclear reactor. The study is intended to assess the applicability of FLC in this domain. The final goal is to develop an optimised and intrinsically safe controller. After reviewing the available literature on FLC in nuclear reactors, an FLC is proposed and first tested by comparing it with the classical controller of BR1 (Belgium's first research reactor). In the next step the BR1 at the Belgian Nuclear Research Centre (SCK · CEN) was used as a test bed to implement a PLC-based hardware controller. The BR1 reactor is internationally regarded as a nuclear calibration reference. It therefore provides an excellent environment for this type of experiments, because over the years considerable knowledge of the static and dynamic properties of the reactor has been accumulated. The progress made in these experiments will be presented and discussed.     

可重构知识管理系统的客户化定制研究

介绍了知识管理对其工具可重构性的要求,展示了一个基于本体的知识管理系统框架。对本体概念进行了介绍,将本体引用到知识管理工具之中,构建一个可重构知识管理系统,并对知识本体建模进行了论述。讨论了可重构知识管理系统对客户化定制的需求,其中包括知识结构的定制即企业本体建模和知识处理（录入、检索、显示等）界面的客户化定制。阐述了可重构知识管理系统中知识处理模板的应用模型;简要介绍了可扩展标记语言（XML）技术;最后结合本体定义,给出了基于XML实现的几种知识处理模板定制原理。     

可重构移位单元的设计与实现

在对称密码算法中移位操作使用频率非常高,尤其是在密钥生成中的应用。但各种算法之间的移位位宽和移位长度并不一致,所以现有的密码处理系统中还没有一个通用的移位单元支持所有对称密码算法的移位操作。本文在研究了多种对称密码算法的基础上,分析了高效灵活实现移位单元的方法,并提出了一种基于多级网络的可重构移位单元,它可以支持4/8/28/32/128-bit移位位宽以及可变移位长度的移位操作。此单元的设计与实现,不仅增强了密码处理单元的通用性,还使得可重构密码芯片的实现成为可能。     

可重构密码协处理器的概念及其设计原理

提出了可重构密码协处理器的概念并论述了其设计原理。所谓可重构密码协处理器实际上是一个其内部逻辑电路结构和功能可被灵活改变的密码处理单元,它能够在主处理器的控制和驱动下灵活、快速地实现多种不同的密码操作,以便适应不同密码算法的需求。基于可重构密码协处理器的可重构密码系统具有灵活、快速、安全的特点,在保密通讯和网络安全等领域中具有良好的应用前景。     

可重构密码协处理器的组成与结构

文章提出了一些关于可重构密码协处理器的组成与结构的设计思想和方法。可重构密码协处理器组成与结构是指可重构密码协处理器的组成模块及其相互之间的连接网络。可重构密码协处理器组成与结构的设计直接影响到可重构密码协处理器的性能,因此是可重构密码协处理器设计中的一个关键问题。     

一种可重构计算模式在自动目标识别中的应用研究

该文利用ALTERAAPEX/EP20K1500EBC652庞大的可编程资源,在其上重构设计了一卷积运算协处理器,通过ISA总线与以80X86为中央处理器的工业控制计算机耦合,设计完成了一完整可重构计算混合结构。应用该计算结构后,自动目标识别性能得到了很大改善,显著提高了计算效率。     

可重构密码协处理器指令系统的设计方法

可重构密码协处理器是采用可重构体系结构的思想和方法设计而成的,用于对数据进行加/解密处理的集成电路芯片,它能够灵活、快速地实现多种不同的密码算法。文章提出了可重构密码协处理器的指令系统的设计方法,并评估了按照该方法所设计的指令系统的特性。     

Fault tolerant control using sliding modes with on-line control allocation

This paper proposes an on-line sliding mode control allocation scheme for fault tolerant control. The effectiveness level of the actuators is used by the control allocation scheme to redistribute the control signals to the remaining actuators when a fault or failure occurs. The paper provides an analysis of the sliding mode control allocation scheme and determines the nonlinear gain required to maintain sliding. The on-line sliding mode control allocation scheme shows that faults and even certain total actuator failures can be handled directly without reconfiguring the controller. The simulation results show good performance when tested on different fault and failure scenarios.     

Educational training software for modelling and synthesis of controllers for robotic manipulators and robotized manufacturing cells

A general software system aimed at computer-aided design of controllers for robots and robotized technological systems is described in this paper. The software system includes modules for the synthesis of various levels of robot controller as well as controllers of complex robotized technological systems. The software includes simulation of robotic systems within manufacturing cells using various types of models: complete dynamic models, kinematic models and simple models in the form of finite automata. Using these modelsvarious algorithms for all controls levels in robot controllers may be synthesized taking into account the actual interaction between the robot and its environment. The software system enables the solution of the important problem of the interaction between higher and lower levels of controllers. Finally, a general purpose controller as a target system for the proposed software is described. The controller is designed as an open system allowing the user to apply various control laws and to run in conjunction with an actual robot. The general software system together with the controller represents a powerful educational tool in modern robotics.