基于改进MOEAD算法的主从式PID控制器参数寻优

为了有效解决电液伺服系统主从控制结构中主缸和从缸PID控制器的参数设定问题,提出了一种基于多目标优化算法与模型仿真相结合的求解方法。在该求解方法中,将参数设定问题建模为了一个多目标优化问题,其目标空间包括主从同步误差、调节时间、超调量和积分平方误差四个维度,建立了主从结构的PID控制仿真模型,来获取目标空间的目标值。改进了MOEAD算法,通过亲代选择以及子代生成算子选择强化算法子代的多样性,通过个体与权重向量的绑定机制和外部种群对无效权重向量的替换策略对原始算法中的权重向量进行重调整。由改进的MOEAD算法获取了最终的Pareto非支配解集,在最终解集中选取了拐点个体作为控制器的最优参数,提高了主从同步结构的控制品质。     

简单要素模型多边形拓扑检查并行算法

将并行计算应用到大数据量简单要素模型多边形拓扑检查中,设计实现了简单要素模型多边形拓扑检查并行算法。算法针对拓扑检查的计算特点,改进了主从式并行策略,在主进程中进一步划分线程以实现任务并行,从而隐藏拓扑错误提取和结果写入时间。采用MPI和PThread实现进程与线程的结合。利用苏南五市土地现状调查地类图斑数据对算法进行测试。经测试,该算法能够对大数据量简单要素模型多边形进行准确、快速的拓扑检查。算法提出的进程与线程结合的任务并行策略相对于传统主从式策略加速比提高约20%。     

A master-slave control system for a semi-autonomous underwater vehicle-manipulator system

Underwater vehicle-manipulator systems (UVMS) are expected to play an important role in ocean exploration. It is considered that UVMS will be operated by both automatic and manual control. We have proposed an automatic control method. In this article, we propose a master-slave system for a UVMS. The effectiveness of the proposed master-slave control system is demonstrated by using a floating underwater robot with a 2-link manipulator.     

基于PLC技术的焊接机器人主从协调运动控制系统研究

焊接机器人运动控制系统的控制功能直接决定了焊接工作质量,利用PLC技术优化设计焊接机器人主从协调运动控制系统。在系统硬件设计方面,装设位置、速度、旋转电弧等传感器设备,利用传感数据检测焊接机器人实时位姿。在考虑焊接机器人组成结构、工作原理以及动力驱动方式的情况下,构建焊接机器人的数学模型。结合当前位姿和控制目标之间的位置关系,规划焊接机器人主从协调运动轨迹,在约束条件的作用下,利用PLC控制器生成控制指令,作用在改装的焊接机器人驱动器上,实现系统的焊接机器人主从协调运动控制功能。通过系统测试实验得出结论：与传统控制系统相比,优化设计系统的速度控制误差、姿态角控制误差分别降低了0.075mm/s和0.38°,在优化系统控制下,主从焊接机器人的运动轨迹与规划轨迹之间无明显差异。     

Architectural Exploration of Heterogeneous Multiprocessor Systems for JPEG

Multicore processors have been utilized in embedded systems and general computing applications for some time. However, these multicore chips execute multiple applications concurrently, with each core carrying out a particular task in the system. Such systems can be found in gaming, automotive real-time systems and video / image encoding devices. These system are commonly deployed to overcome deadline misses, which are primarily due to overloading of a single multitasking core. In this paper, we explore the use of multiple cores for a single application, as opposed to multiple applications executing in a parallel fashion. A single application is parallelized using two different methods: one, a master-slave model; and two, a sequential pipeline model. The systems were implemented using Tensilica’s Xtensa LX processors with queues as the means of communications between two cores. In a master-slave model, we utilized a course grained approach whereby a main core distributes the workload to the remaining cores and reads the processed data before writing the results back to file. In the pipeline model, a lower granularity is used. The application is partitioned into multiple sequential blocks; each block representing a stage in a sequential pipeline. For both models we applied a number of differing configurations ranging from a single core to a nine-core system. We found that without any optimization for the seven core system, the sequential pipeline approach has a more efficient area usage, with an area increase to speedup ratio of 1.83 compared to the master-slave approach of 4.34. With selective optimization in the pipeline approach, we obtained speed ups of up to 4.6 × while with an area increase of only 3.1 × (area increase to speedup ratio of just 0.68). National ICT Australia is funded through the Australian Government’s Backing Australia’s Ability initiative, in part through the Australian Research Council.     

Intelligent manipulator system with nonsymmetric and redundant master-slave

Some work is so complicated and unsteady that it is not possible to use automatic robots, such as FA robots. In such a case, a teleoperated manipulation system is applied. In this research, the authors aim at a reduction in the operator's physical and mental burdens. An artificially intelligent manipulator system has been developed with nonsymmetric and redundant master-slave. This system has five features: (1) a polar coordinates master arm; (2) a highly operational articulated slave arm with 7 degrees of freedom; (3) a nonsymmetric configuration and different degrees of freedom master-slave control; (4) an expert system; and (5) a new master-slave control motion, which makes the operator's task easier with automatic force/position control. The system was experimentally produced and its performance tested and evaluated. A qualitative evaluation was carried out by conducting a comparative test on the conventional master-slave control and the new master-slave control. It was found to be effective in reducing operating time, as well as work-induced fatigue.     

主从链下的物联网隐私数据跨域安全共享模型

为了解决各个信任应用域之间的跨域安全问题,保证隐私数据的跨域共享,利用区块链技术构建了基于主从链的隐私数据跨域共享模型。首先构建了主从链,并提出基于主从链的跨域共享模型架构;设计了基于智能合约的跨域访问机制,并基于跨域访问机制提出了面向隐私数据的跨域安全共享方案;最后,对模型的稳定性、吞吐量、存储开销等方面进行了实验及对比分析。实验结果表明,该模型同最新的单链跨域模型相比,吞吐量提升了270 TPS左右,节点的平均CPU负载和平均内存开销分别下降了24%和64%;同现有多链跨域模型相比,节点的平均CPU负载和平均内存开销分别下降了15%和20%,为物联网隐私数据的跨域安全共享提供了一种有效方法。     

Designing communication strategies for heterogeneous parallel systems

This paper explores the suitability of the emerging passive star-coupled optical interconnection using wavelength division multiplexing as the system interconnect to provide high bandwidth (Gbits/sec) communication demanded by heterogeneous systems. Several different communication strategies (combinations of communication topologies and protocols) are investigated under a representative master-slave computational model. The interplay between system speed, network speed, task granularity, and degree of parallelism is studied using both analytical modeling and simulations. It is shown that a hierarchical ALOHA-based communication strategy between the master and the slaves, implemented on top of the passive star-coupled network, leads to a considerable reduction in channel contention and provides 50–80% reduction in task completion time for applications with medium to high degrees of coarse grain parallelism. Comparable reduction in channel contention is also shown to be achieved by using tunable acoustooptic filters at master nodes.     

基于CoreConnect的OPB SPI接口设计与实现

针对SPI接口传输速率低、CPU利用率低、主从机配置固定和从机选择单一等问题,提出一种基于CoreConnect总线的OPB SPI接口设计方案。添加缓冲FIFO、SCK时钟波特率寄存器、连续发送间隔寄存器,采用可扩展从机模式,设计出传输高效、主从灵活可配、多从机选择可配的OPB SPI 接口。仿真测试表明该接口的有效性和可行性,能够满足SOC系统的需要。     

基于图的分布式并行基因编程模型

基因编程(GP)算法具有天然的并行性,因此出现了并行分布式GP模型,如主从模型、岛屿模型和网格模型等。但是实现这些分布式模型的算法过程复杂,不具有可重用性,很难依据不同拓扑结构来快速实现大规模的GP计算。针对这些缺点,提出了基于图的并行分布式GP模型,形式化地描述了图中的各种GP操作,使其能够支持不同拓扑结构的GP分布式并行计算。经过实验测试,该模型能够实现上述三种GP模型,并具有稳定、高效、易实现的特点。     

嵌入式主从并行处理系统命令分析器的设计与实现

论文分析了嵌入式主从并行处理系统应用软件特点,引入了完备自动机定义命令分析器的抽象数学模型,用该模型给出了命令分析器的形式化描述并编程实现,结果证明该方法是行之有效的。     

多轴运动系统非线性轮廓重复跟踪的主从交叉耦合迭代学习控制

针对多轴运动系统非线性轮廓的重复跟踪,传统时域交叉耦合迭代学习控制器（Cross-coupled iterative learning control,CCILC）的设计,各轴间的耦合算子计算精度要求高,计算效率低.本文提出一种主从交叉耦合迭代学习控制方法.基于主从控制设计方法,主动轴采用时域CCILC,从动轴采用位置域交叉耦合迭代学习控制（Position domain CCILC,PDCCILC）.保证各轴间运动同步性,同时减轻对耦合算子精确性的依赖.因而可以引入轮廓误差矢量法估算耦合算子提高计算效率.采用Lifting的系统时域矩阵展开方法对所提出的算法进行了稳定性分析和性能分析.基于一个两轴毫米级运动平台,三种典型非线性轮廓跟踪（即半圆、抛物线和螺旋线）的数值仿真和实验分析验证了所提出算法的有效性.     

Modelling telescopic boom--The plane case: part I

We shall briefly present an idea for the modelling flexible telescopic boom using a non-linear finite element method. The boom is assembled by Reissner’s geometrically exact beam elements. The sliding boom parts are coupled together by the element, where a slide-spring is coupled to beam with the aid of a master-slave technique. This technique yields system equations without algebraic constraints. Telescopic movement is achieved by the rod element with varying length and the connector element expressing the chains. The structural dynamic calculation model is converted to first order ordinary differential equations by adding nodal velocities to state variable, which is solved by the Rosenbrock-W integration method.     

基于S120变频器的转炉倾动主从控制设计及应用

随着SINAMICS S120在工控领域的应用,越来越多的成功应用案例随之产生,主从控制方案就是一个典型的案例,在许多工业领域得到了应用.本文主要介绍了转炉倾动控制系统的主从控制方案设计,实现变频器主从自动切换的调试过程及注意事项.     

地空KGR／142系列电台集中控制系统

本着重介绍了利用单片机实现ＫＧＲ／１４２系列电站的集中控制技术及其特点，介绍了一种利用ＲＳ４２２接口实现主从式多机通信的方法。     

并行遗传算法在器件模型参数提取中的应用

器件的模型和模型参数提取是电子设计自动化(EDA)领域的关键工作。采用遗传算法进行器件模型参数提取工作是近年来兴起并被广泛使用的一种参数提取方法。本文讨论了并行遗传算法的特点,针对遗传算法自身的耗时问题,提出了基于MPI的主从式遗传算法,并证实了并行计算在参数提取工作中的可行性。该方法简单易用,显著提升了MOS器件模型参数提取的速度。     

Parallel genetic algorithm for N-Queens problem based on message passing interface-compute unified device architecture

N-Queens problem derives three variants: obtaining a specific solution, obtaining a set of solutions and obtaining all solutions. The purpose of the variant I is to find a constructive solution, which has been solved. Variant III is aiming to find all solutions and the largest number of queens currently being resolved is 26. Variant II whose purpose is to obtain a set of solutions for larger-scale problems relies on various intelligent algorithms. In this paper, we use a master-slave model genetic algorithm that combines the idea of the evolutionary algorithm and simulated annealing algorithm to solve Variant III, and use a parallel fitness function based on compute unified device architecture. Experimental results show that our scheme achieved a maximum 60-fold speedup over the single-CPU counterpart. On this basis, a two-level parallel genetic algorithm based on the island model and master-slave model is implemented on the GPU cluster by using message passing interface technology. Using two-node and three-node GPU cluster, speedup of 1.46 and 2.01 are obtained on average over single-node, respectively. Compared with the sequential genetic algorithm, the two-level parallel genetic algorithm makes full use of the parallel computing power of GPU cluster in solving N-Queen variant II and improves the performance by 99.19 times in the best case.     

GIS环境下的地图综合

讨论了地图自动综合的基本概念、数据模型和常用函数；试将两类不同性质的地理信息分并存储，提出了主从式地理数据库模型，试图解决新数据模型中引入的数据一致性问题；最后给出了一个用规则库来实现的地图综合方法。     

AB PLC与MODBUS网络的通信

介绍了应用3100／3150-MCM模块实现AB PLC与MODBUS网络通讯的方法．该方法使用MODBUS协议．通过开发AB PLC的应用程序．从而实现主从结构网络通信。     

高性能火箭探空仪研究与实现

针对高性能火箭探空仪探测参数多、数据处理密集、控制复杂、实时性强等特点,提出了主-从处理器体系结构和构造模型链的实时多任务调度方法;采用在系统可编程技术(ISP)实现系统重构和传输数据加密、解密编码。该方法可应用于其它类似飞行器的数据处理。