Adaptive finite‐time control for nonlinear teleoperation systems with asymmetric time‐varying delays

This paper addresses the adaptive finite‐time control problem of nonlinear teleoperation system in the presence of asymmetric time‐varying delays. To achieve the finite‐time position tracking, a novel adaptive finite‐time coordination algorithm based on subsystem decomposition is developed. By introducing a switching‐technique‐based error filtering into our design framework, the complete closed‐loop master (slave) teleoperation system is modeled as a special class of switched system, which is composed of two subsystems. To analyze such system, a finite‐time state‐independent input‐to‐output stability criterion is first developed for some normal switched nonlinear delayed systems. Then based on the classical Lyapunov–Krasovskii method, the stability of complete closed‐loop systems is obtained. It is shown that the proposed scheme can make the position errors converge into a deterministic domain in finite time when the robots continuously contact with human operator and/or the environment in the presence of asymmetric time‐varying delays. Finally, the simulation results are given to demonstrate the effectiveness. Copyright © 2015 John Wiley & Sons, Ltd.     

Finite frequency fault detection for T-S fuzzy singular multiple timedelay systems

This paper focuses on the problem of fault detection (FD) for a class of nonlinear systems described by the T-S fuzzy singular model with multiple time delays and actuator faults. Two finite-frequency performance indices are introduced to measure fault sensitivity and disturbance robustness. To reduce the conservatism of the existing results, a finite frequency domain approach to fuzzy singular multiple time-delay systems is proposed. Then based on the approach, filter design conditions for the solvability of this problem are presented in terms of linear matrix inequalities (LMIs). Finally, simulation studies are provided to demonstrate the application of the proposed method.     

基于SSH框架的高校餐费管理系统设计与实现

为提高高校餐费管理的效率,实现智能化管理,提出一种基于SSH框架的餐费管理解决方案.介绍了系统的总体框架、业务流程和主要功能模块的设计,对系统开发中的关键技术SSH框架进行了研究,并实现了软件的研制.实践证明,采用SSH框架设计模式,可以将系统进行很好的分工,使系统层次结构更加清晰,降低模块之间耦合性,简化编程,提高软件开发效率,同时提高系统的性能和可维护性.     

Stochastic stability and stabilization of discrete‐time singular Markovian jump systems with partially unknown transition probabilities

This paper considers the stochastic stability and stabilization of discrete‐time singular Markovian jump systems with partially unknown transition probabilities. Firstly, a set of necessary and sufficient conditions for the stochastic stability is proposed in terms of LMIs, then a set of sufficient conditions is proposed for the design of a state feedback controller to guarantee that the corresponding closed‐loop systems are regular, causal, and stochastically stable by employing the LMI technique. Finally, some examples are provided to demonstrate the effectiveness of the proposed approaches. Copyright © 2014 John Wiley & Sons, Ltd.     

Characterizing and optimizing TPC-C workloads on large-scale systems using SSD arrays在大规模系统上优化 TPC-C 评测程序

Transaction processing performance council benchmark C (TPC-C) is the de facto standard for evaluating the performance of high-end computers running on-line transaction processing applications. Differing from other standard benchmarks, the transaction processing performance council only defines specifications for the TPC-C benchmark, but does not provide any standard implementation for end-users. Due to the complexity of the TPC-C workload, it is a challenging task to obtain optimal performance for TPC-C evaluation on a large-scale high-end computer. In this paper, we designed and implemented a large-scale TPC-C evaluation system based on the latest TPC-C specification using solid-state drive (SSD) storage devices. By analyzing the characteristics of the TPC-C workload, we propose a series of system-level optimization methods to improve the TPC-C performance. First, we propose an approach based on SmallFile table space to organize the test data in a round-robin method on all of the disk array partitions; this can make full use of the underlying disk arrays. Second, we propose using a NOOP-based disk scheduling algorithm to reduce the utilization rate of processors and improve the average input/output service time. Third, to improve the system translation lookaside buffer hit rate and reduce the processor overhead, we take advantage of the huge page technique to manage a large amount of memory resources. Lastly, we propose a locality-aware interrupt mapping strategy based on the asymmetry characteristic of non-uniform memory access systems to improve the system performance. Using these optimization methods, we performed the TPC-C test on two large-scale high-end computers using SSD arrays. The experimental results show that our methods can effectively improve the TPC-C performance. For example, the performance of the TPC-C test on an Intel Westmere server reached 1.018 million transactions per minute.     

Parametric Stabilization of Quantized Interconnected Systems with Application to Coupled Inverted Pendulums

This paper studies the analysis of parametric stability and decentralized state feedback control of a kind of quantized interconnected systems. The output of each controller is quantized logarithmically before it is input to the subsystem, and the quantized density would affect the stability of the systems. First, a decentralized state feedback controller is designed for interconnected systems without quantization and the corresponding stable region is obtained. Second, for a given controller, the lower bound of the quantization density is evaluated from parameters of local controllers. Finally, the proposed method is applied to coupled inverted pendulums systems which can be viewed as quantized interconnected systems. The simulation results show that by using the proposed quantized controllers, the interconnected inverted pendulum systems are parametrically stabilized.     

VxWorks平台内核态ARINC653分区实时调度算法设计与实现

集成模块化航空电子架构(integrated modular avionic,IMA)已成为主流航空电子系统;ARINC 653作为航空电子设备IMA架构的标准应用接口,成为研究航空电子软件编程方法的入口;最新研究表明,VxWorks能够为航空电子分区管理提供最优化的平台;然而,基于VxWorks的ARINC 653高效分区调度算法依然是研究的“盲区”;由此,设计了VxWorks内核态分层ARINC 653分区实时调度算法,提高了分区调度效率,为VxWorks内核ARINC 653完整性的研究提供非常有价值的参考;实验数据说明,相较于传统用户态分区管理模型,该调度算法使分区释放开销和分区释放抖动两项指标均显著降低.     

Experimental study of a novel hybrid constructed wetland for water reuse and its application in Southern China

A new type of hybrid constructed wetland (CW), consisting of both vertical-baffled flow wetland (VBFW) and horizontal subsurface flow wetland (HSFW), has been deployed in Southern China to naturally accelerate the removal of organic matter and nitrogen. The hybrid CW system is characterised by a combination of continuous baffled flow vertical wetland and 'S' pattern horizontal subsurface flow wetland with natural aeration ditches to increase the concentration of dissolved oxygen in the HSFW bed. An internal circulatory system from the HSFW effluent back to the VBFW may optionally be operated to enhance the biological denitrification effect. Cyperus alternifolius is the main macrophyte in the wetland bed. The performance of the hybrid CW was studied with a pilot-scale system and three full-scale systems for municipal sewage treatment in Southern China. The results suggest that this new hybrid CW can achieve removal efficiencies of chemical oxygen demand, suspended solids, ammonia nitrogen, total nitrogen, and total phosphorus of better than 83.6, 95.0, 71.7, 64.5 and 68.1% respectively, with a specific wetland bed area of 0.70-0.93 m(2) PE(-1). The mean effluent concentrations of these parameters would meet the regulatory discharge limits for wastewater treatment systems (GB18918, 2002) and reuse in the context of agricultural irrigation solutions in China.     

可重构阵列自主容错方法研究

设计了一种具有故障自诊断和自修复能力的可重构阵列单元结构。在功能细胞单元内部实现分布式的故障自诊断,在测试到故障后,可以自主地将距故障单元最近的空闲单元进行替换,接着自动取消受故障影响的线网,并在新的布线端点间对这些线网重新布线。以4位并行乘法器为例,实验结果证明了可重构单元阵列的故障自修复能力,并验证其重构时间较短且可靠性较高。     

扫描型红外图像实时目标检测研究

针对扫描型红外图像数据量大、背景复杂、横纹杂波干扰大和目标图像信噪比低等特点,提出一种适用于360°全方位扫描型红外图像目标检测的实时处理算法。算法预处理部分消除横纹杂波,实现目标增强和背景抑制;然后采用两级特征提取,大幅降低图像的数据量;最后根据帧间图像灰度特征相关的思想,完成扫描型红外图像目标检测的功能。根据本文算法的特点,以DSP+FPGA为核心处理器设计了具有实时处理能力强,数据传输容量大等优点的图像处理板。实验结果表明,本文算法是有效、可行的,图像处理板稳定、可靠,能满足扫描型红外图像实时目标检测的需求。