Algorithms and Architectures for Real-Time Control: Proceedings of the Ifac Workshop, Bangor, North Wales, Uk, 11 - 13 September 1991

by Fleming, P. J.; Jones D. I.

• ISBN13: 9780080416991
• ISBN10: 0080416993
• Format: Hardcover
• Copyright: 1992-04-01
• Publisher: Elsevier Science Ltd

Summary

Computer scientists have long appreciated that the relationship between algorithms and architecture is crucial. Broadly speaking the more specialized the architecture is to a particular algorithm then the more efficient will be the computation. The penalty is that the architecture will become useless for computing anything other than that algorithm. This message holds for the algorithms used in real-time automatic control as much as any other field. These Proceedings will provide researchers in this field with a useful up-to-date reference source of recent developments.

Table of Contents

Neural Networks
Neural Networks for Nonlinear Adaptive Control	p. 1
Design of Model-reference Neural Controllers using Step-response Data	p. 15
A Real-time Implementation of a Multi-layer Perceptron with Automatic Tuning of Learning Parameters	p. 21
A Neural Network Controller	p. 27
Combining Adaptive and Neural Control	p. 33
Systolic Algorithms
Systolic Architecture for Predictive Control	p. 37
A Linear Systolic Algorithm for the Triangular Stein Equation	p. 43
Kalman Filtering: A Survey of Parallel Processing Alternatives	p. 49
A Novel Broadcast Architecture for the Square Root Kalman Filter	p. 57
Robotics
A Real-time Reactive Model of Control of an Autonomous Mobile Robot	p. 63
Adaptive Active Control for Robots and Articulated Machinery	p. 69
A Hardware Accelerator for a Robot Arm Multivariable Self-tuning Control	p. 73
Transputer-based Real-time Parallel and Network Inferential Control of Robots	p. 81
An Adaptive Impedance Controller for Robot Manipulators	p. 87
Custom Processors
The Application of Pace within Control	p. 93
An Open DSP-based System for Real-time Control Algorithms	p. 99
Fast Ladder-lattice Identification Architecture with Numerically Robust Tracking of Parameters	p. 105
Real-time Control of an Electromagnetic Suspension System using a Digital Signal Processor	p. 111
Single Chip Implementation of a Real-time Variable Structure Controller	p. 117
Real-Time Software and Scheduling
Implementation Issues of Trans-RTXC on the Transputer	p. 123
Reactive Scheduling for Hard Real Time Systems	p. 129
Parallel Computation of a Parameter Estimator	p. 135
A Review of Failure Detection, Fault Diagnosis and Reconfiguration Algorithms for Real Time Aircraft Control Systems	p. 141
Developing Reconfigurable Distributed Hard Real-time Control Systems in STER	p. 147
Novel Methods for Control
Fast, Self-organizing Control for Industrial Processes	p. 153
Model-based Diagnosis of Dynamic Processes: A Mixed Qualitative/Quantitative Approach	p. 159
Modeling of Factory Automation System by Object-Oriented Approach	p. 165
Parallel Algorithms for the Analysis of 2D and Related Systems	p. 171
Real-time Performance Monitoring based on ARMA Model Estimation	p. 177
Models and Algorithms of Software Optimization	p. 183
Real-Time Control Applications
Multi-processor Architecture for Implementation of an Automatic Voltage Regulator	p. 187
Fault Tolerant Parallel Processing Architectures for Gas Turbine Engine Control	p. 193
Computer Control for Steering and Stabilisation	p. 199
Adaptive and Self-Tuning Control
Progress in the Development of Parallel Adaptive/Self Tuning Controllers	p. 207
On the Choice of Weights in Parallel Schemes for Adaptive Estimation	p. 213
Robust Design of an LQ Multivariable Implicit Self-tuning Controller using Generalized Sector Theory--Part I: On the Implementation of the Algorithm	p. 219
Real-Time Software Implementation
A Real-time Language based on Explicit Timeouts	p. 225
The Use of Temporal Petri Nets in the Specification and Design of Systems with Safety Implications	p. 231
Real-time Control of Batch Process Plant through Timed Petri Net Modelling and Dynamic Optimisation	p. 237
Multiprocessor Systems
An Architecture of Dataflow LSP for Programmable Controllers	p. 243
Performance Studies of Parallel Real-time Controllers	p. 249
A Multiple Transputer Target Tracker for a Random Scenario	p. 255
Author Index	p. 261
Keyword Index	p. 263
Table of Contents provided by Blackwell. All Rights Reserved.