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Algorithms and architectures for real-time control : preprints of the IFAC workshop, Seoul, Korea, 31 August-2 September 1992 /
This Workshop focuses on such issues as control algorithms which are suitable for real-time use, computer architectures which are suitable for real-time control algorithms, and applications for real-time control issues in the areas of parallel algorithms, multiprocessor systems, neural networks, fau...
| Clasificación: | Libro Electrónico |
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| Autor Corporativo: | |
| Otros Autores: | , |
| Formato: | Electrónico Congresos, conferencias eBook |
| Idioma: | Inglés |
| Publicado: |
Oxford [England] ; New York :
Published for the International Federation of Automatic Control by Pergamon Press,
1992.
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| Edición: | First edition. |
| Colección: | IFAC Postprint Volume.
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| Temas: | |
| Acceso en línea: | Texto completo |
Tabla de Contenidos:
- Front Cover; Algorithms and Architectures for Real-Time Control; Copyright Page; IFAC Workshop on Algorithms and Architectures for Real-Time Control; Preface; Table of Contents; CHAPTER 1. CONTEMPORARY COMPUTERS CONSIDERED INAPPROPRIATE FOR REAL TIME CONTROL; INTRODUCTION; REAL TIME REQUIREMENTS; UNPREDICTABLE BEHAVIOUR; DATA CONVERSIONS; INHERENT DELAYS; MULTI-VARIABLE CONTROL; TIME; INAPPROPRIATE PRACTICE; SAFETY CRITICAL CONTROL; A PERSPECTIVE FOR THE FUTURE DEVELOPMENT; REFERENCES; CHAPTER 2. HARD DEADLINES IN REAL-TIME CONTROL SYSTEMS; 1 Introduction.
- 2 The Effects of Controller Computer Failures3 Derivation of Hard Deadlines; 4 Examples; 5 Application of Hard Deadline Information; 6 Conclusion; Acknowledgement:; References; CHAPTER 3. PARALLEL ALGORITHMS FOR CONTROL; INTRODUCTION; SYSTOLIC ALGORITHMS FOR MATRIX CALCULATIONS; SYSTOLIC ALGORITHMS FOR DISCRETE KALMAN FILTERING; ALGORITHM ENGINEERING; TRANSPUTER IMPLEMENTATIONS; PARALLEL KALMAN-BUCY FILTERING; DISCUSSION AND CONCLUSIONS; REFERENCES; CHAPTER 4. PARALLEL ALGORITHMS FOR THE QUASI-TRIANGULAR GENERALIZED SYLVESTER MATRIX EQUATION ON A SHARED MEMORY MULTIPROCESSOR; 1. INTRODUCTION.
- 2. SOLUTION OF THE TRIANGULAR GENERALIZED SYLVESTER EQUATION3. SOLUTION OF THE QUASI-TRIANGULAR GENERALIZED SYLVESTER EQUATION; 4. ALLIANT FX/80 IMPLEMENTATION; 5. CONCLUSIONS; References; CHAPTER 5. A SYSTOLIC ALGORITHM FOR THE TRIANGULAR SYLVESTER EQUATION IN A LINEAR ARRAY; INTRODUCTION; TRIANGULAR FORM OF SYLVESTER EQUATION; SYSTOLIC ALGORITHM FOR THE TRIANGULAR SYLVESTER EQUATION; SIZE-DEPENDENT BIDIMENSIONAL ARRAY; SIZE-INDEPENDENT BIDIMENSIONAL ARRAY; SIZE-DEPENDENT LINEAR ARRAY; SIZE-INDEPENDENT LINEAR ARRAY; CONCLUSION; REFERENCES.
- Chapter 6. Real Time Control of a Multiple Arm System by Large Scale MultiprocessingINTRODUCTION; TRANSPUTER FAMILY; PERIPHERAL INTERFACE; OCCAM/TDS; WELL STRUCTURED SYSTEM SOFTWARE; APPLICATION TO ROBOT SYSTEM CONTROL; CONCLUDING REMARKS; ACKNOWLEDGMENT; REFERENCES; CHAPTER 7. A MODULAR, MASSIVELY PARALLEL COMPUTER ARCHITECTURE FOR TRAINABLE REAL-TIME CONTROL SYSTEMS; INTRODUCTION; SYSTEM ARCHITECTURE: THE CONCEPT; SYSTEM ARCHITECTURE: IMPLEMENTATION; SYSTEM DEVELOPMENT: IMPLEMENTATION; DISCUSSION AND CONCLUSION; REFERENCES.
- CHAPTER 8. PARALLELIZED INVERSE DYNAMICS ALGORITHM FOR DYNAMIC CONTROL OF A ROBOT MANIPULATORINTRODUCTION; ROBOT INVERSE DYNAMICS; PARALLELIZATION OF ROBOT INVERSE DYNAMICS; TRANSPUTER AND PARALLEL PROCESSING SYSTEM; EXPERIMENTAL RESULT; CONCLUSION AND FURTHER STUDIES; REFERENCE; CHAPTER 9. ROBOT POSITION CONTROL BASED ON A TRANSPUTER NETWORK WITH A CONTACTLESS SENSOR; Introduction; Control Architecture; Transputer Network; Sensor System; Results; References; CHAPTER 10. A TRANSPUTER-BASED CONTROLLER FOR THE RTX ROBOT; Abstract; 1 Introduction; 2 The RTX Robot; 3 The Transputer.
- 4 The Interface
- Hardware Aspects.