Cerebellar Microcomplexes and the Modulation of Motor Pattern Generators

The cerebellum provides a paradigm for motor control in which adaptive circuitry modulates control systems rather than being embedded within the motor control circuitry itself. We exemplify this by a model of the role of cerebellum in adaptation to the effects of wearing prism glasses on throwing at a target. The cerebellum is viewed as a set of modules (cerebellar microcomplexes), each of which can be added to a control system to improve smooth coordinated movement, with improvements continuing and improving over time. Moreover, context information can be injected into a module which enables it to change modes. We close with a brief discussion of the implications of work on cerebellar modeling, noting that cerebellar modules can be linked to coordinate different control systems.     

一种基于模块化结构的大学英语四级MCAI系统实现方法研究

Authorware是一种优秀的多种媒体开发工具,能实现非常复杂的多媒体接入及程序流程控制,但在开发功能结构类似,信息资源丰富的模块时,还存在程序设计复复,代码重复量大,模块功能更改困难等问题,本文针对以上问题,在设计大学英国四级多媒体教学系统时,提出了一套基于模块化结构的大学英语四级MCAI教学软件的设计思想,并以听力部分为例,详细介绍了该部分各功能模块的实现。     

Construction and locomotion analysis of modular robots with pneumatic-actuated and binary-controlled expandable cubes

This paper presents the construction and locomotion analysis of the modular robots composed of expandable cubes (E-Cubes). The kinematic properties and experiment research of the assembled modular robots are the main focus of the paper. The E-Cube consisted of only prismatic joints is a cubic module with three degrees of freedom corresponding to three mutually perpendicular directions. The modular robots are constructed by connecting the vertex or edge of the adjacent modules. In this paper, first, the modular robot system including the E-Cube hardware, connection method of modules and a potential binary control strategy is described. And then, the detailed kinematics, stability and motion simulations of three configurations assembled with four modules are analysed. After that, a set of experimental pneumatic-based robotic system is built. At last, the gait experiments of the configurations are carried out to testify the feasibility and validity of design and locomotion functions. The experiment results show the reliability of the mechanical, control and pneumatic systems and the programming and control efficiency of the binary control strategy. As extension, a modular robot with eight modules is assembled, and its different locomotion gaits are simulated accordingly.     

Optimal design of reconfigurable parallel machining systems

A reconfigurable machining system is usually a modularized system, and its configuration design concerns the selections of modules and the determination of geometric dimensions in some specific modules. All of its design perspectives from kinematics, dynamics, and control have to be taken into considerations simultaneously, and a multidisciplinary design optimization (MDO) tool is required to support the configuration design process. This paper presents a new MDO tool for reconfigurable machining systems, and it includes the following works: (i) the literatures on the computer-aided design of reconfigurable parallel machining systems have been reviewed with a conclusion that the multidisciplinary design optimization is essential, but no comprehensive design tool is available to reconfigurable parallel machining systems; (ii) a class of reconfigurable systems called reconfigurable tripod-based machining system has been introduced, its reconfiguration problem is identified, and the corresponding design criteria have been discussed; (iii) design analysis in all of the disciplines including kinematics, dynamics, and control have been taken into considerations, and design models have been developed to evaluate various design candidates; in particular, the innovative solutions to direct kinematics, stiffness analysis for the design configurations of tripod-based machines with a passive leg, and concise dynamic modelling have been provided; and (iv) A design optimization approach is proposed to determine the best solution from all possible configurations. Based on the works presented in this paper, a computer-aided design and control tool have been implemented to support the system reconfiguration design and control processes. Some issues relevant to the practical implementation have also been discussed.     

基于代码检测的软件故障定位方法

针对现有软件故障定位方法的缺陷,提出了一种基于代码检测的软件故障定位方法,用嵌入式模块获取软件发生故障时的模块运行序列,分析出软件故障可疑模块集及其故障系数,在此基础上对故障模块进行代码的分类检测,根据上述过程中得到的结果进行综合分析运算,得出软件故障的可疑代码集和故障系数,采用代码分析辅助工具进行排查,定位故障。该方法已成功应用于软件密集型系统的故障诊断,能快速有效地实现软件故障定位。     

Design of real-time periodic control systems through synchronization and fixed priorities

Control systems are often designed using a set of co-operating periodic modules running under control of a real-time operating system. A correct behaviour of the closed-loop controller requires that the system meets timing constraints like periods and latencies, which can be expressed as deadlines. The control system timing requirements are captured through a partition in control paths by which priorities are assigned according to their relative urgency. Latencies are managed through precedence constraints and more or less tight synchronization between modules. The implementation uses the fixed-priority based pre-emption service of an off-the-shelf real-time operating system. Such a system can be modelled with timed event graphs, and its temporal behaviour can be analysed using the underlying (max, plus) algebra. Examples coming from a uni-processor robot controller are provided.     

基于不干扰理论的隔离语义描述及隔离策略的自动化验证方法研究

隔离有助于阻止信息泄露或被篡改、错误或失败被传递等.利用不干扰理论给出了隔离的精确语义,以利于分析和制定系统的隔离策略;利用通信顺序进程CSP来定义上述隔离语义,并给出一个系统满足给定隔离策略的判定断言,以利于借助形式化验证工具FDR2来实现系统内隔离策略的自动化验证.以基于虚拟机的文件服务监控器为例,展示了如何利用CSP来建模一个系统及其隔离策略以及如何利用FDR2来验证该系统模型满足给定的隔离策略.     

Automating Scenario Analysis of Human and System Reliability

The system reliability analyzer tool for analyzing the reliability of system designs is described and its use illustrated in a system engineering case study of a naval command and control system. The performance of systems consisting of human operators and technology components is assessed by Bayesian nets, which calculate error probabilities from inputs of agent properties and environmental conditions. The tool tests scenarios representing the system design and its operational behavior, which is modeled as cycles of command and control tasks. The tool indicates weak points in the scenario sequence and assesses the reliability of one or more system designs with a set of operational scenarios and a variety of environmental conditions     

A software architecture for distributed computer control systems

Distributed computer control systems have a number of potential advantages over centralized systems, especially where the application is itself physically distributed. A computer station can be placed close to the plant being controlled, and a communications network used to enable the stations to communicate to coordinate their actions. However, the software must be carefully designed to exploit the potential advantages of distribution. This paper describes the software architecture of CONIC, a system to support distributed computer control applications. This architecture emphasizes the distinction between the writing of individual software components and the construction and configuration of a system from a set of components. A modular structure is used to separate programming from configuration. Typed entry and exit ports are used to clearly define module interfaces. Ports, analagous to the plugs and sockets of hardware components, permit modules to be interconnected in different ways. On-line modification and extension of the system is supported by permitting the dynamic creation and interconnection of modules. Message passing primitives are provided to permit modules to coordinate and synchronize control actions.     

Enabling fuzzy technologies in high performance networking via an open FPGA-based development platform

Soft computing techniques and particularly fuzzy inference systems are gaining momentum as tools for network traffic modeling, analysis and control. Efficient hardware implementations of these techniques that can achieve real-time operation in high-speed networking equipment as well as other highly time-constrained application fields is however an open problem. We introduce a development platform for fuzzy inference systems with applications to network traffic analysis and control. The platform addresses the current requirements and constraints of high performance networking equipment. For the development process, we set up a methodology and a CAD tool chain that span the entire design process from initial specification in a high-level language to implementation on FPGA devices. An FPGA development board with PCI/PCIe interface is employed to support an open platform that comprises CAD tools as well as IP cores. PCI compatible fuzzy inference modules are implemented as System-on-Programmable-Chip (SoPC). We present satisfactory experimental results from the implementation of fuzzy systems for a number of applications in analysis and control of Internet traffic. These systems are shown to satisfy operational and architectural requirements of current and future high performance routing equipment. The platform proposed allows for the development of prototypes while avoiding large investments and complicated management procedures which constrain the testing and adoption of soft computing techniques in high performance networking.     

A review of adaptive neural control applied to proton exchange membrane fuel cell systems

Proton exchange membrane fuel cell systems are promising technologies for the integration of renewable energy. They pave the way for further emission-reduction and energy autonomy initiatives. However, widespread commercialization still faces several challenges to extend their durability, improve their reliability while reducing their cost. Control strategies included information about the state of heath are among promising levers to tackle these challenges. In this context, an active fault tolerant control strategy based on three modules is introduced. Firstly, a fault diagnosis tool identify the system state of health and detect abnormal conditions. Then, a decision process based on diagnosis results, manages to find a fault strategy mitigation. Finally, a set of controllers, or a re-configurable controller, are used to apply the decision strategy. This third module has to be suited to the real-time specifications of the system. In this context, neural networks-based controllers with adaptive learning appear to be especially appropriate methods for system state of health consideration. For this reason, this paper aims to bring a literature review for adaptive neural-based control applied on proton exchange membrane fuel cell systems. Based on this overview of recent works available, propositions are made to fill the resource gaps about fuel cell control and give some answers to the aforementioned issues.     

ProOpter: An advanced platform for production analysis and optimization

This paper presents the prototype of an advanced platform for production analysis and optimization, referred to as ProOpter. The platform was developed to support the recently derived concept of holistic production control (HPC), which relies on model-based control. The prototype is comprised of a set of off-line and on-line modules. The off-line modules support the definition of key performance indicators (KPIs), the selection of the most influential input (manipulative) variables, and the identification of a simple production model from historical data. The on-line modules enable KPI prediction and suggest actions to the production manager, employing model-based production control and/or optimization techniques. In this way, a new decision-support reasoning based on historical production data can be introduced. ProOpter has a modular design and can be used as an add-on to existing production IT systems since it relies on established industrial communication standards. The use of the platform is validated on the well-known Tennessee Eastman benchmark simulation process and on two industrial case studies.     

The AdaPIC tool set: supporting interface control and analysisthroughout the software development process

The AdaPIC tool set, an important component of an Ada software development environment, is discussed. The AdaPIC tool set is one particular instantiation, specifically adapted for use with Ada, of the more general collection of language features and analysis capabilities that constitute the PIC approach to describing and analyzing relationships among software system components. This tool set is being tailored to support an incremental approach to the interface control aspects of the software development process. Following a discussion of the PIC interface control and incremental development concepts, the AdaPIC tool set is described, concentrating on its analysis tools and support for incremental development and demonstrating how it contributes to the technology for developing large Ada software systems     

A unix tool for managing reusable software components

Sloth is a simple Unix-based tool for creating and maintaining large C programs built from reusable ‘modules’. Sloth is a collection of UNIX shell commands for creating and editing modules, and for producing executables by linking compiled code from the modules comprising a program. Sloth in a sense extends C by providing module facilities similar to those built in to newer languages such as Modula-II. The Sloth ‘extensions’, however, are at the shell level only. No changes are required in C itself; in fact, the Sloth commands invoke the standard Unix C compiler. A Sloth module contains a set of C procedures and local declarations, a set of global definitions and variable declarations, an initialization routine and an ‘import’ list of other modules containing declarations referred to, but not defined by, the module in question. The Sloth link command has one argument, the name of a ‘root’ directory. The link command automatically identifies all those modules imported directly or indirectly by the root module, checks that the object code for each module is up-to-date and recompiles where necessary. It then creates a main program in which the various initialization routines are executed in the correct order (most primitive first), compiles it and links it with all the object files and produces an executable program. Individual modules can be compiled without any knowledge of the application that uses, directly or indirectly, the module in question. Two applications that both use a collection of modules can therefore share the object code for these modules. The use and implementation of Sloth are presented, as are the experience in using it, programming techniques developed to take full advantage of its facilities, as well as several extensions, either completed or planned.     

仿真软件Vega中的路径与导航器模块

在虚拟仿真环境中经常要事先设置虚拟对象的运动路径,并且需要在仿真过程中动态的、有规律的进行一系列运动路径的变化,专业仿真软件Vega提供的路径和导航器模块很好地解决了这一问题。首先讨论了基于仿真软件Vega的路径和导航器基本原理及其API接口函数,详细阐述了如何应用这两个模块在Lynx中创建路径和导航对象,以及怎样通过Path Tool路径工具设鬣路径控制点和导航参数,然后介绍了路径和导航器在VC编程中的应用,最后基于实践应用探讨了仿真环境中虚拟对象运动路径的精确定位、速度的设定、张力因子选取以及运动方向的调整方法。     

Localization and parametrization of linear multidimensional control systems

We study the link existing between the parametrization of differential operators by potential-like arbitrary functions and the localization of differential modules, while applying these results to the parametrization of linear multidimensional control systems. We show that the localization of differential modules is a natural way to generalize some well-known results on transfer matrix, classically obtained by using Laplace transform, to time-varying ordinary differential control systems and to partial differential control systems with variable coefficients. In particular, we show that the parametrizations obtained by localization are simpler than those obtained by formal duality but are worse in the sense of Palamodov–Kashiwara's classification of differential modules.     

Displacement constraints for interactive modeling and animation of articulated structures

This paper presents an integrated set of methods for the automatic construction and interactive animation of solid systems that satisfy specified geometric constraints. Displacement contraints enable the user to design articulated bodies with various degrees of freedom in rotation or in translation at highes and to restrict the scope of the movement at will. The graph of constrained objects may contain closed loops. The animation is achieved by decoupling the free motion of each solid component from the action of the constraints. We do this with iterative tunings in displacements. The method is currently implemented in a dynamically based animation system and takes the physical parameters into account while reestablishing the constraints. In particular, first-order momenta are preserved during this process. The approach would be easy to extend to modeling systems or animation modules without a physical model just by allowing the user to control more parameters.     

A learning-based module extraction method for object-oriented systems

Developers apply object-oriented (OO) design principles to produce modular, reusable software. Therefore, service-specific groups of related software classes called modules arise in OO systems. Extracting the modules is critical for better software comprehension, efficient architecture recovery, determination of service candidates to migrate legacy software to a service-oriented architecture, and transportation of such services to cloud-based distributed systems. In this study, we propose a novel approach to automatic module extraction to identify services in OO software systems. In our approach, first we create a weighted and directed graph of the software system in which vertices and edges represent the classes and their relations, respectively. Then, we apply a clustering algorithm over the graph to extract the modules. We calculate the weight of an edge by considering its probability of being within a module or between modules. To estimate these positional probabilities, we propose a machine-learning-based classification system that we train with data gathered from a real-world OO reference system. We have implemented an automatic module extraction tool and evaluated the proposed approach on several open-source and industrial projects. The experimental results show that the proposed approach generates highly accurate decompositions that are close to authoritative module structures and outperforms existing methods.     

A distributed task-oriented real-time programming system

This paper presents a new conception for a distributed task-oriented real-time operating system comprising a compiler, an operating system kernel and communication packages. The system TOROS supplies the tools for a uniform programming of complex process control applications on heterogenous hardware including workstation, PC, programmable controller and microcontroller. The whole control task is split into a set of small modules. These modules are uniquely programmed by defining a state machine and using guarded commands. They are connected logically through calls to tasks provided by other modules. The specification of the modules is done in an hardware independent language. At compile time the modules are distributed to specified target computers. The system automatically translates each module into the particular code and realizes the communication between the modules either on the same computer or through the links.