Cooperative control and communication of intelligent swarms: a survey

Individuals exchange information, experience and strategy based on communication. Communication is the basis for individuals to form swarms and the bridge of swarms to realize cooperative control. In this paper, the multi-robot swarm and its cooperative control and communication methods are reviewed, and we summarize these methods from the task, control, and perception levels. Based on the research, the cooperative control and communication methods of intelligent swarms are divided into the following four categories: task assignment based methods (divided into market-based methods and alliance based methods), bio-inspired methods (divided into biochemical information inspired methods, vision based methods and self-organization based methods), distributed sensor fusion and reinforcement learning based methods, and we briefly define each method and introduce its basic ideas. Based on WOS database, we divide the development of each method into several stages according to the time distribution of the literature, and outline the main research content of each stage. Finally, we discuss the communication problems of intelligent swarms and the key issues, challenges and future work of each method.     

Usage control mechanism for securing the multi-organizational grid

Security is a fundamental but challenging issue in the dynamic and multi-organizational computational grid. Focusing on the closed system, traditional access control model considered static authorization decisions based on pre-assigned permissions. To facilitate collaborations and interoperations across the grid, we propose a usage control mechanism for computational grid. Our mechanism is based on the usage control model. By leveraging continuous usage control on grid services and monitoring the status and behaviors of the subjects involved in the collaborations, our mechanism improves collaboration＇s security. Furthermore, our mechanism enables richer and finer-grained control over authorizations on resources and services involved in collaborations and interoperations than that of traditional access control mechanisms. Our mechanism can contribute to maintain the security and interests of the service providers in the grid environment.     

支持多媒体传输的QoS自适应控制理论及评价模型

QoS adaptive control is one of the critcal technologies supporting the quality of service of multimedia transport.This paper puts forward an evaluation model of QoS adaptive control to support the multimedia transport.In holds out a QoS adaptive control model based on the theory of adaptive control,and gives the formal evaluation parameters system.Our contributions are the following:(1) We analyzed the Qos adaptive control based on the control theory,and it can give the theoretically instruction for ruture development.(2)We bring forward an evaluation model of QoS adaptive control mechanisms for the first time.The model provides a tool for evaluating the performance of so many kinds of QoS adaptive algorthms and mechanisms.     

Human control model in teleoperation rendezvous

This paper proposes a human control model in teleoperation rendezvous on the basis of human information processing （perception, judgment, inference, decision and response）. A predictive display model is introduced to provide the human operator with predictive information of relative motion. By use of this information, the longitudinal and lateral control models for the operator are presented based on phase plane control method and fuzzy control method, and human handling qualities are analyzed. The integration of these two models represents the human control model. Such a model can be used to simulate the control process of the human operator, which teleoperates the rendezvous with the aid of predictive display. Experiments with human in the loop are carried out based on the semi-Physical simulation system to verify this human control model. The results show that this human control model can emulate human operators＇ performance effectively, and provides an excellent way for the analysis, evaluation and design of the teleoperation rendezvous system.     

A novel induction motor control scheme using IDA-PBC

A new control scheme for induction motors is proposed in the present paper, applying the interconnection and damping assignment-passivity based control （IDA-PBC） method. The scheme is based exclusively on passivity based control, without restricting the input frequency as it is done in field oriented control （FOC）. A port-controlled Hamiltonian （PCH） model of the induction motor is deduced to make the interconnection and damping of energy explicit on the scheme. The proposed controller is validated under computational simulations and experimental tests using an inverter prototype.     

基于SPKI电子支付中的银行端访问控制

In the system of electronic payment based on SPKI, access control of bank acts as the important function of identification, protecting customer‘s privacy and ensuring payment. The paper proposes the model of bank access control, and describes the frame and the steps of the access control. Finally, the paper analyzes the characteristics of the model.     

Coordinated nonlinear robust control of TCSC and excitation for multi-machine systems

An advanced nonlinear robust control scheme is proposed for multi-machine power systems equipped with thyristor-controlled series compensation (TCSC). First, a decentralized nonlinear robust control approach based on the feedback linearization and H∞ theory is introduced to eliminate the nonlinearities and interconnections of the studied system, and to attenuate the exogenous disturbances that enter the system. Then, a system model is built up, which has considered all the generators‘ and TCSC‘s dynamics, and the effects of uncertainties such as disturbances. Next, a decentralized nonlinear robust coordinated control law is developed based on this model. Simulation results on a six-machine power system show that the transient stability of the power system is obviously improved and the power transfer capacity of long distance transmission lines is enhanced regardless of fault locations and system operation points. In addition, the control law has engineering practicality since all the variables in the expression of he control strategy can be measured locally.     

Two kinds of optimal controls for probabilistic mix-valued logical dynamic networks

This paper addresses two kinds of optimal control problems of probabilistic mix-valued logical control networks by using the semi-tensor product of matrices, and presents a number of new results on the optimal finite-horizon control and the first-passage model based control problems, respectively. Firstly, the probabilistic mix-valued logical control network is expressed in an algebraic form by the semi-tensor product method, based on which the optimal finite-horizon control problem is studied and a new algorithm for choosing a sequence of control actions is established to minimize a given cost functional over finite steps. Secondly, the first-passage model of probabilistic mix-valued logical networks is given and a new algorithm for designing the optimal control scheme is proposed to maximize the corresponding probability criterion. FinMly, an illustrative example is studied to support our new results/algorithms.     

PI control based on fuzzy set-point weighting tracking for hydraulic crane boom system

A PI control strategy based on fuzzy set-point weighting following was proposed for the active damping control of a hydraulic crane boom system （HCBS）. Two valve-controlled PI controllers, which include a proportional feedforward controller based on fuzzy set-point weighting following and a limited semi-integrator（LSI）, are designed respectively. LSI is used to limit output signal and to prevent wind up at the low frequency of the spectrum. By using a range camera and an electronic feedback control, the tip damping on the HCBS can be adjusted artificially. A collaborative control simulation technique of HOPSAN and MATLAB/SIMULINK is applied to the controller design. Simulation results show that the proposed PI control system has less overshoot as well as faster response. The tip damping on the HCBS during operation is improved.     

基于ActiveX技术的监控软件设计

本文对ＡｃｔｉｖｅＸ控件作了简单的介绍,讲述了在监控软件中如何运用ＡｃｔｉｖｅＸ控件的编写 方法,本文亦介绍了利用 ＡｃｔｉｖｅＸ控件编写基于浏览器－服务器结构在Ｉｎｔｅｒｎｅｔ／Ｉｎｔｒａｎｅｔ 上运行的监控软件的方法。     

基于ActiveX控件的网络虚拟频谱分析仪的设计

该文提出了一种利用ActiveX控件构建网络虚拟频谱分析仪系统的方法。整个系统基于浏览器,服务器构架,首先在VC6．0环境下采用ActiveX控件技术设计出虚拟仪器,然后将其制作成网页的形式并通过Internet向外发布,最后用户通过浏览器向服务器发送命令以远程控制频谱分析仪,并获取实时测试结果。实践证明,ActiveX控件在搭建虚拟仪器软件平台方面具有形象逼真的显示效果、更好的通用性、更强的灵活性等优点。     

基于类的VB.NET控件数组设计

为了解决VB.NET中控件不能象VB6.0使用数组的问题,提出了基于类的控件数组解决方案,并就类控件数组的设计原理和实现方法进行了介绍。     

基于ActiveX技术的数据采集与显示控件设计

采用ActiveX技术设计数据采集与显示控件,搭建了硬件实验平台,提出了数据采集与显示控件的模块结构。该控件可对压力、温度、位置等进行检测和记录,并绘制成图形,从而方便地看出多个参数变化的关系,进而有助于提高控制精度。同时还可大大减少软件编制工作量,缩短软件开发周期。     

基于Web的LonWorks远程监控系统设计与实现

文章论述了基于Web的LonWorks远程监控系统体系结构和实现原理。利用嵌入到Web页面中的ActiveX控件,形成了丰富的监控画面和复杂的监控功能。同时结合ASP技术,实现了对远程LonWorks总线的监测和控制。最后,给出了一个远程监控系统的应用实例。     

用Java,ASP与ActiveX数据控件复合技术开发Web数据库

针对电子信息交换领域中的易用性和安全性等问题，提出了利用Java，Active Senver Pages与ActiveX数据控件等技术相结合进行基于Internet的Web数据库开发的复合方法，并实现了一个中小型留言簿系统的应用，对涉及的网络安全性等问题进行了讨论。     

ActiveX控件在Modbus协议自动测试系统中的应用

介绍了Modbus协议与ActiveX控件技术,以及基于Modbus协议通信的ActiveX控件实现;同时介绍了Modbus自动测试系统的流程和方案。最终说明了ActiveX控件技术的应用为MODBUS协议自动测试系统的开发提供了一种快速有效的解决方案。     

在Visual Foxpro中使用ActiveX控件

介绍在Visual Foxpro中使用ActiveX控件的方法及应用示例。     

基于Matlab FIS工具箱的模糊自整定PID控制系统设计与实现

在SIMULINK环境下．基于Matlab模糊逻辑工具箱建立模糊推理系统．设计出模糊自整定PID参数控制器．并开发相应的ActiveX控件．将Matlab工具箱与监控组态软件结合，在实现PID参数在线自整定的同时，实现将复杂的控制算法应用于工业现场。这对于研究Matlab及复杂算法在模糊控制工程领域的应用是有意义的。     

岩心数字化网络发布平台及应用系统

本文采用ActiveX技术,制作专用的图象处理控件。利用该控件使信息发布系统可以对图片信息进行处理。改变了传统的信息系统只能对简单的信息（如文本信息）进行处理的弊端。使信息发布系统更加完善,一体化。