冗余度柔性机器人协调操作刚性和柔性负载的仿真分析

采用有限元方法建立了冗余度柔性机器人协调操作柔性负载的模型。首次对两4R冗余度柔性机器人协调操作刚性和柔性负载进行了不同目标任务的对比数值仿真分析,指出任务空间和初始角度均是影响系统性能的因素,在设计任务时应选择较好的机器人可操作空间给定任务,使机器人采用较好的初始位形进行运动以提高系统性能。在对系统精度要求较高并且负载与机器人杆件具有接近的尺寸、材料更轻、刚度相近或更小时,需要考虑负载的柔性,以获知精确的负载位姿信息,利用运动补偿等方法消除不利因素,提高系统精度。     

化工安全仪表系统设计探讨

介绍和分析了一般化工安全仪表系统各组成部分,明确了安全仪表系统在化工企业生产中的重要性,对在化工安全仪表系统中如何设计和设置传感器、最终执行元件、逻辑运算器、通讯接口、人机接口、过程接口、软件组态等进行了分析。     

三期原料场三电控制系统计算机通信网络的实现

结合宝钢三期原料场三电控制系统的调试，比较了三期和一，二期原料三电通信系统的主要技术指标；论述了该控制系统计算机通信网络的系统构成，网络部件，工作原理；分析了为提高系统通信能力所采取的措施。     

Redundancy and robustness of systems of events

The article aims to add a new impetus to rational and objective probabilistic evaluation of redundancy and robustness, based on uncertainties of systems and subsystems of events. An attempt is made to demonstrate the relevance of intuitive comprehension of redundancy and robustness of engineering systems of events. An event-oriented system analysis of a number of random observable operational and failure modes, with adverse probability distributions in a lifetime, may provide a deeper understanding of systems operational abundance and endurance. The system uncertainty analysis is based on the concept of entropy as defined in information theory and applied to probability theory. The article relates reliability, uncertainty, redundancy and robustness of systems of events and their application is illustrated in numerical examples.     

Reliable workflow scheduling with less resource redundancy

We examine the problem of reliable workflow scheduling with less resource redundancy. As scheduling workflow applications in heterogeneous systems, either for optimizing the reliability or for minimizing the makespan, are NP-Complete problems, we alternatively find schedules for meeting specific reliability and deadline requirements. First, we analyze the reliability of a given schedule using two important definitions: Accumulated Processor Reliability (APR) and Accumulated Communication Reliability (ACR). Second, inspired by the reliability analysis, we present three scheduling algorithms: RR algorithm schedules least Resources to meet the Reliability requirement; DRR algorithm extends RR by further considering the Deadline requirement; and dynamic algorithm schedules tasks dynamically: It avoids the “Chain effect” caused by uncertainties on the task execution time estimates, and relieves the impact from the inaccuracy on failure estimation. Finally, the empirical evaluation shows that our algorithms can save a significant amount of computation and communication resources when performing a similar reliability compared to Fault-Tolerant-Scheduling-Algorithm (FTSA) algorithm.     

基于LabVIEW的两种CRC—CCITT算法程序的性能比对测试

LabVIEW是广泛应用的图形化编程语言,采用循环冗余检验（cyclic redundancy check,CRC）对LabVIEW应用系统的数据通信进行校验。为确保其通信性能,需对CRC校验程序进行性能测试。这里介绍了两种实现CRC—CCITT算法的LabvIEw程序,并针对这两种算法程序进行了性能测试。根据测试结果,分析了这两种程序的技术特点和其应用特点。     

基于关键路径的三模冗余表决器插入算法

在FPGA的三模冗余设计中,寄存器的反馈环路会导致错误持续出现,严重影响三模冗余的容错性能,因此需要在寄存器的反馈环路上插入表决器。该文首次提出了一种针对映射后网表进行三模冗余设计的方法,同时提出了基于关键路径的表决器插入算法,该算法在表决器的插入时避开关键路径,缓解了三模冗余设计中插入表决器时增加延时的影响。与国外同类算法相比,该文算法在不降低电路可靠性的前提下,以不到1%的面积开销,使得关键路径延时减少3%~10%,同时算法运算速度平均提高35.4%。

     

On the relationships among latent variables and residuals in PLS path modeling: The formative-reflective scheme

A new approach for the estimation and the validation of a structural equation model with a formative-reflective scheme is presented. The basis of the paper is a proposal for overcoming a potential deficiency of PLS path modeling. In the PLS approach the reflective scheme assumed for the endogenous latent variables (LVs) is inverted; moreover, the model errors are not explicitly taken into account for the estimation of the endogenous LVs. The proposed approach utilizes all the relevant information in the formative manifest variables (MVs) providing solutions which respect the causal structure of the model. The estimation procedure is based on the optimization of the redundancy criterion. The new approach, entitled redundancy analysis approach to path modeling (RA-PM) is compared with both traditional PLS Path Modeling and LISREL methodology, on the basis of real and simulated data.     

The design of RMT-based IOC redundancy at RCPI experimental platform in TMSR

In the RCPI(rod control and position indication) system prototype of the TMSR(Thorium Molten Salt Reactor) project, EPICS(Experimental Physics and Industrial Control System) was adopted as instrumentation and control software platform. According to long time running, high availability and safety for the system, RMT(redundancy monitor task) software package for Input/Output Controller(IOC) redundancy was employed, and the driver for redundancy control was realized. Test shows that the system could achieve IOC redundancy switch-over quickly and ensure the IOC running with long-term stability.     

Penalty guided bees search for redundancy allocation problems with a mix of components in series–parallel systems

This paper uses a penalty guided strategy based on an artificial bee colony algorithm (PGBC) to solve the redundancy allocation problem (RAP) in reliability series–parallel systems. The penalty strategy was designed to eliminate the equalities in constraints and formulate new objective operators which guarantee feasibility within a reasonable execution time. The PGBC is used to deal with two kinds of RAPs with a mix of components. In the first example, the RAPs are designed to find the appropriate mix of components and redundancies within a system in order to either minimize the cost in the context of a minimum level of reliability, or maximize reliability subject to a maximum cost and weight. The second example involves RAPs of multi-state series–parallel reliability structures, wherein each subsystem can consist of a maximum of two types of redundant components. The objective is to minimize the total investment cost of system design while satisfying system reliability constraints and the consumer load demands. There are five multi-state system design problems which have been solved for illustration in this example. The experimental results show that the PGBC can significantly outperform other existing methods in the literature with less cost, higher reliability, and a significantly shorter computational time.