Pub Date : 2008-07-13DOI: 10.1109/INDIN.2008.4618194
A. Abdalla, W. H. Hassan, A. Mohammed, A. Ahmed, A.H. Mohd
With the advent of the handheld devices and multimedia applications, there has been an increasing interest for mobile multicast. IETF proposes two approaches. The first approach is bi-directional tunneling (BT), where the mobile node subscribes to a multicast group through its home network. The second approach is in remote subscription (RS), where the mobile node joins the multicast group via a local multicast router on the foreign link being visited. However, in BT approach the home agent is typical far and this will lead to high signaling cost at the same time the home agent represents a single point of failure and introduces scalability issues. RS approach suffers mainly from frequent tree reconstruction. The main aim for this paper is to propose a new mobile multicast approach to reduce the signaling cost and reduce the packet loss especially in case of macromibiliy. The proposed solution integrates hierarchical mobile IPv6 with mobile context transfer. This paper presents and evaluates the proposed solution. Our results shows that compared to BT approach, the proposed solution gives lower signaling cost.
{"title":"An approach to enhance mobile multicast using context transfer","authors":"A. Abdalla, W. H. Hassan, A. Mohammed, A. Ahmed, A.H. Mohd","doi":"10.1109/INDIN.2008.4618194","DOIUrl":"https://doi.org/10.1109/INDIN.2008.4618194","url":null,"abstract":"With the advent of the handheld devices and multimedia applications, there has been an increasing interest for mobile multicast. IETF proposes two approaches. The first approach is bi-directional tunneling (BT), where the mobile node subscribes to a multicast group through its home network. The second approach is in remote subscription (RS), where the mobile node joins the multicast group via a local multicast router on the foreign link being visited. However, in BT approach the home agent is typical far and this will lead to high signaling cost at the same time the home agent represents a single point of failure and introduces scalability issues. RS approach suffers mainly from frequent tree reconstruction. The main aim for this paper is to propose a new mobile multicast approach to reduce the signaling cost and reduce the packet loss especially in case of macromibiliy. The proposed solution integrates hierarchical mobile IPv6 with mobile context transfer. This paper presents and evaluates the proposed solution. Our results shows that compared to BT approach, the proposed solution gives lower signaling cost.","PeriodicalId":112553,"journal":{"name":"2008 6th IEEE International Conference on Industrial Informatics","volume":"60 6","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-07-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120921804","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2008-07-13DOI: 10.1109/INDIN.2008.4618152
A. Farid, W. Covanich
In recent years, the fields of reconfigurable manufacturing systems, holonic manufacturing systems, multi-agent systems have made technological advances to support the ready reconfiguration of automated manufacturing systems. To help assess these advancements, a reconfigurability measurement process has been developed based upon the complementary ideas of reconfiguration potential, and ease. This work measured the reconfigurability of an automated manufacturing system as an intrinsic property of the systempsilas structure. However, it did not explicitly measure the effort required to realize a reconfiguration process. This paper recombines the concepts of reconfiguration potential and reconfiguration ease to measure the effort required to realize a specific class of reconfiguration processes. The theoretical developments are then demonstrated in an illustrative example. The paper concludes with a discussion of potential implications on adjacent research.
{"title":"Measuring the effort of a reconfiguration processes","authors":"A. Farid, W. Covanich","doi":"10.1109/INDIN.2008.4618152","DOIUrl":"https://doi.org/10.1109/INDIN.2008.4618152","url":null,"abstract":"In recent years, the fields of reconfigurable manufacturing systems, holonic manufacturing systems, multi-agent systems have made technological advances to support the ready reconfiguration of automated manufacturing systems. To help assess these advancements, a reconfigurability measurement process has been developed based upon the complementary ideas of reconfiguration potential, and ease. This work measured the reconfigurability of an automated manufacturing system as an intrinsic property of the systempsilas structure. However, it did not explicitly measure the effort required to realize a reconfiguration process. This paper recombines the concepts of reconfiguration potential and reconfiguration ease to measure the effort required to realize a specific class of reconfiguration processes. The theoretical developments are then demonstrated in an illustrative example. The paper concludes with a discussion of potential implications on adjacent research.","PeriodicalId":112553,"journal":{"name":"2008 6th IEEE International Conference on Industrial Informatics","volume":"77 5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-07-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121024767","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2008-07-13DOI: 10.1109/INDIN.2008.4618097
Gia-Shie Liu
This study considers a service system with multiple independent servers operating in parallel and a single Markovian queue. The servers are unreliable with identically exponentially distributed failure times but no server failures allowed during maintenance. The repair time is also assumed to follow exponential distribution. Accordingly, we formulate this model as a continuous time Markov decision process. Group maintenance policies are developed based on the number of customers dynamically in the queue, and are mathematically proved to have the property of threshold structure.
{"title":"Customer-oriented group maintenance model for unreliable service system","authors":"Gia-Shie Liu","doi":"10.1109/INDIN.2008.4618097","DOIUrl":"https://doi.org/10.1109/INDIN.2008.4618097","url":null,"abstract":"This study considers a service system with multiple independent servers operating in parallel and a single Markovian queue. The servers are unreliable with identically exponentially distributed failure times but no server failures allowed during maintenance. The repair time is also assumed to follow exponential distribution. Accordingly, we formulate this model as a continuous time Markov decision process. Group maintenance policies are developed based on the number of customers dynamically in the queue, and are mathematically proved to have the property of threshold structure.","PeriodicalId":112553,"journal":{"name":"2008 6th IEEE International Conference on Industrial Informatics","volume":"186 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-07-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121838369","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2008-07-13DOI: 10.1109/INDIN.2008.4618168
Y.K. Penva, P. G. Bringas
Network intrusion detection systems (NIDS) aim at preventing network attacks and unauthorised remote use of computers. More accurately, depending on the kind of attack it targets, NIDS can be oriented to detect misuses (by defining all possible attacks) or anomalies (by modelling legitimate behaviour to find those that do not fit into that model). Still, since their problem knowledge is restricted to possible attacks, misuse detection fails to notice anomalies and vice versa. Against this background, this paper proposes a third alternative that hybrids misuse and anomaly prevention. In this way, ESIDE-Depian uses a Bayesian network to learn from both anomaly and misuse knowledge in order to be able to detect either kind of attacks, known and unknown. Finally, we evaluate ESIDE-Depian against all kind of menaces to prove in which degree it has been achieved to integrate both approaches.
{"title":"Integrating network misuse and anomaly prevention","authors":"Y.K. Penva, P. G. Bringas","doi":"10.1109/INDIN.2008.4618168","DOIUrl":"https://doi.org/10.1109/INDIN.2008.4618168","url":null,"abstract":"Network intrusion detection systems (NIDS) aim at preventing network attacks and unauthorised remote use of computers. More accurately, depending on the kind of attack it targets, NIDS can be oriented to detect misuses (by defining all possible attacks) or anomalies (by modelling legitimate behaviour to find those that do not fit into that model). Still, since their problem knowledge is restricted to possible attacks, misuse detection fails to notice anomalies and vice versa. Against this background, this paper proposes a third alternative that hybrids misuse and anomaly prevention. In this way, ESIDE-Depian uses a Bayesian network to learn from both anomaly and misuse knowledge in order to be able to detect either kind of attacks, known and unknown. Finally, we evaluate ESIDE-Depian against all kind of menaces to prove in which degree it has been achieved to integrate both approaches.","PeriodicalId":112553,"journal":{"name":"2008 6th IEEE International Conference on Industrial Informatics","volume":"76 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-07-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124931918","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2008-07-13DOI: 10.1109/INDIN.2008.4618361
Gao Hongli, Luan Xu, Zhang Ni
Based on the analysis to the features of engineering materials test monitoring system, a new CSDA (Client Server Database Application for control) architecture is proposed. Apart from the conventional 3-tier C/S architecturepsilas components, the new CSDA architecture includes a new control application part. Applying this architecture, an industrial network is constructed, which closely combines the control network with the information network. Taking the high-frequency fatigue test system as an example, the application of the CSDA architecture is studied in details. The high-performance of the system demonstrates the feasibility and potential of the proposed architecture.
在分析工程材料试验监控系统特点的基础上，提出了一种新的CSDA (Client - Server - Database Application for control)体系结构。除了传统的三层C/S架构替换组件外，新的CSDA架构还包括一个新的控制应用部分。应用这一体系结构，构建了控制网络与信息网络紧密结合的工业网络。以某高频疲劳试验系统为例，详细研究了CSDA体系结构的应用。系统的性能验证了该体系结构的可行性和潜力。
{"title":"Engineering materials test process monitor system based on CSDA architecture","authors":"Gao Hongli, Luan Xu, Zhang Ni","doi":"10.1109/INDIN.2008.4618361","DOIUrl":"https://doi.org/10.1109/INDIN.2008.4618361","url":null,"abstract":"Based on the analysis to the features of engineering materials test monitoring system, a new CSDA (Client Server Database Application for control) architecture is proposed. Apart from the conventional 3-tier C/S architecturepsilas components, the new CSDA architecture includes a new control application part. Applying this architecture, an industrial network is constructed, which closely combines the control network with the information network. Taking the high-frequency fatigue test system as an example, the application of the CSDA architecture is studied in details. The high-performance of the system demonstrates the feasibility and potential of the proposed architecture.","PeriodicalId":112553,"journal":{"name":"2008 6th IEEE International Conference on Industrial Informatics","volume":"136 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-07-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125237831","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2008-07-13DOI: 10.1109/INDIN.2008.4618189
Tuan Dang, C. Devic
In this paper we present an industrial development of a wireless sensors network technology called OCARItrade. It targets applications in harsh environments in power plants and in warships. OCARI is a radio communication technology that supports mesh topology and power-aware ad hoc routing protocol aiming at maximizing the network lifetime. It is based on IEEE 802.15.4 PITY layer with full deterministic MAC layer for time-constrained communication. During the non time constrained communication period, its ad hoc routing strategy uses an energy-aware OLSR proactive protocol. OCARI application layer is based on ZigBee APS and APL primitives and profiles to provide a maximum compatibility with ZigBee applications. To fully assess this technology, extensive tests will be done in industrial facility at EDIT R&D as well as at DCNS. Our objective is then to promote this specification as an open standard of industrial wireless technology.
{"title":"OCARI: Optimization of communication for Ad hoc reliable industrial networks","authors":"Tuan Dang, C. Devic","doi":"10.1109/INDIN.2008.4618189","DOIUrl":"https://doi.org/10.1109/INDIN.2008.4618189","url":null,"abstract":"In this paper we present an industrial development of a wireless sensors network technology called OCARItrade. It targets applications in harsh environments in power plants and in warships. OCARI is a radio communication technology that supports mesh topology and power-aware ad hoc routing protocol aiming at maximizing the network lifetime. It is based on IEEE 802.15.4 PITY layer with full deterministic MAC layer for time-constrained communication. During the non time constrained communication period, its ad hoc routing strategy uses an energy-aware OLSR proactive protocol. OCARI application layer is based on ZigBee APS and APL primitives and profiles to provide a maximum compatibility with ZigBee applications. To fully assess this technology, extensive tests will be done in industrial facility at EDIT R&D as well as at DCNS. Our objective is then to promote this specification as an open standard of industrial wireless technology.","PeriodicalId":112553,"journal":{"name":"2008 6th IEEE International Conference on Industrial Informatics","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-07-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122505803","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2008-07-13DOI: 10.1109/INDIN.2008.4618087
K. Tang, Qun Wu, Guohui Yang, Xun-jun He, J. Fu, Lewei Li
The operating principle of the RF MEMS phase shifter is described. Then the equivalent circuit of the MEMS phase shifter has been established and the capacitances of the MEMS bridges in both ldquouprdquo and ldquodownrdquo state are analyzed. Then the approach of using the saw-shaped CPW to decrease the return loss introduced by the insulation layer is proposed. By using network theory, the circuit simulation tool and CST microwave studio simulation tool, the proposed RF MEMS phase shifter is modeled. Simulation results show that the proposed model has the return loss less than -10 dB and the insertion loss more than -2 dB in 2 GRz bandwidth range. At the same time, for one RF MEMS switch-type bridge, as high as 22.5 degrees phase shift is realized.
{"title":"Design of RF MEMS phase shifter based on saw-shaped CPW","authors":"K. Tang, Qun Wu, Guohui Yang, Xun-jun He, J. Fu, Lewei Li","doi":"10.1109/INDIN.2008.4618087","DOIUrl":"https://doi.org/10.1109/INDIN.2008.4618087","url":null,"abstract":"The operating principle of the RF MEMS phase shifter is described. Then the equivalent circuit of the MEMS phase shifter has been established and the capacitances of the MEMS bridges in both ldquouprdquo and ldquodownrdquo state are analyzed. Then the approach of using the saw-shaped CPW to decrease the return loss introduced by the insulation layer is proposed. By using network theory, the circuit simulation tool and CST microwave studio simulation tool, the proposed RF MEMS phase shifter is modeled. Simulation results show that the proposed model has the return loss less than -10 dB and the insertion loss more than -2 dB in 2 GRz bandwidth range. At the same time, for one RF MEMS switch-type bridge, as high as 22.5 degrees phase shift is realized.","PeriodicalId":112553,"journal":{"name":"2008 6th IEEE International Conference on Industrial Informatics","volume":"580 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-07-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122843300","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2008-07-13DOI: 10.1109/INDIN.2008.4618118
Y. Matsushiba, H. Nishi
Structural health monitoring (SHM) system uses a number of sensors for a precise prediction. This prediction enables to provide early indication of vulnerability of a structure and the timing of reinforcement in order to prevent future collapse. SHM systems are now widely spreading in infrastructures. However, conventional SHM systems did not take account of accidental collapse. There is a possibility that sensor node goes down or network goes offline. If sensor nodes are broken by damage, important data, stored in the nodes will have lost. To prevent the data loss, this paper proposes data-distributed fault-tolerant sensor network system for a SHM system. Proposed system consists of three functions, PING (Packet InterNet Groper) based network monitoring function (PNM), backup node selecting function (BNS) and socket communication function. Proposed system is implemented on PCs and practically evaluated in a laboratory environment on terminals of KNIVES, which is a test bed of sensor network system. As a result, Data sharing process on PC and KNIVES was confirmed and proposed method can provide a light-weight fault-tolerant system taking account of accidental collapse.
结构健康监测(SHM)系统采用多个传感器进行精确预测。这种预测能够提供结构脆弱性的早期指示和加固的时机，以防止未来的倒塌。SHM系统目前在基础设施中广泛应用。然而，传统的SHM系统没有考虑意外坍塌。存在传感器节点故障或网络离线的可能性。如果传感器节点被损坏，存储在节点上的重要数据就会丢失。为了防止数据丢失，本文提出了一种数据分布式容错传感器网络系统。该系统包括基于PING (Packet InterNet Groper)的网络监控功能(PNM)、备份节点选择功能(BNS)和套接字通信功能三个部分。本文提出的系统在pc上实现，并在实验室环境中对作为传感器网络系统测试平台的刀具终端进行了实际评估。验证了PC和KNIVES的数据共享过程，提出的方法可以提供考虑意外崩溃的轻量级容错系统。
{"title":"Structural Health Monitoring system considering fault-tolerance","authors":"Y. Matsushiba, H. Nishi","doi":"10.1109/INDIN.2008.4618118","DOIUrl":"https://doi.org/10.1109/INDIN.2008.4618118","url":null,"abstract":"Structural health monitoring (SHM) system uses a number of sensors for a precise prediction. This prediction enables to provide early indication of vulnerability of a structure and the timing of reinforcement in order to prevent future collapse. SHM systems are now widely spreading in infrastructures. However, conventional SHM systems did not take account of accidental collapse. There is a possibility that sensor node goes down or network goes offline. If sensor nodes are broken by damage, important data, stored in the nodes will have lost. To prevent the data loss, this paper proposes data-distributed fault-tolerant sensor network system for a SHM system. Proposed system consists of three functions, PING (Packet InterNet Groper) based network monitoring function (PNM), backup node selecting function (BNS) and socket communication function. Proposed system is implemented on PCs and practically evaluated in a laboratory environment on terminals of KNIVES, which is a test bed of sensor network system. As a result, Data sharing process on PC and KNIVES was confirmed and proposed method can provide a light-weight fault-tolerant system taking account of accidental collapse.","PeriodicalId":112553,"journal":{"name":"2008 6th IEEE International Conference on Industrial Informatics","volume":"78 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-07-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134015890","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2008-07-13DOI: 10.1109/INDIN.2008.4618236
P. Radcliffe
Simulation of real systems such as communications protocols can prove a system will work before any implementation, and test all possible operational states faster and more cheaply than could be achieved with a real physical system. This checking is usually performed by creating a reachability tree that shows all possible outcomes starting from one initial state and checking that all sequences result in an acceptable outcome. Examining the full reachability tree of a system described by Finite State Machines (FSMs) or Petri nets can guarantee the discovery of all incorrect behavior, but can take excessive computing time. Unfolding the reachability tree of a system described by Petri nets has been shown to dramatically reduce the simulation time. This paper shows several advantages if this unfolding is applied to an FSM model of a system instead. Such an approach allows fast discovery of deadlock, and livelock caused by true livelock or by unfairness in the simulation The unfolding method is extended to show how a system can be tested for all possible ldquounexpected inputsrdquo and ldquoany initial staterdquo, both of which are essential when analyzing the robustness of real world protocols. The method is applied to a communications protocol called 2-wire TIA where the simulation speed up was estimated to be a factor of 1.8 billion.
{"title":"Unfolding enhancements speed FSM based simulation","authors":"P. Radcliffe","doi":"10.1109/INDIN.2008.4618236","DOIUrl":"https://doi.org/10.1109/INDIN.2008.4618236","url":null,"abstract":"Simulation of real systems such as communications protocols can prove a system will work before any implementation, and test all possible operational states faster and more cheaply than could be achieved with a real physical system. This checking is usually performed by creating a reachability tree that shows all possible outcomes starting from one initial state and checking that all sequences result in an acceptable outcome. Examining the full reachability tree of a system described by Finite State Machines (FSMs) or Petri nets can guarantee the discovery of all incorrect behavior, but can take excessive computing time. Unfolding the reachability tree of a system described by Petri nets has been shown to dramatically reduce the simulation time. This paper shows several advantages if this unfolding is applied to an FSM model of a system instead. Such an approach allows fast discovery of deadlock, and livelock caused by true livelock or by unfairness in the simulation The unfolding method is extended to show how a system can be tested for all possible ldquounexpected inputsrdquo and ldquoany initial staterdquo, both of which are essential when analyzing the robustness of real world protocols. The method is applied to a communications protocol called 2-wire TIA where the simulation speed up was estimated to be a factor of 1.8 billion.","PeriodicalId":112553,"journal":{"name":"2008 6th IEEE International Conference on Industrial Informatics","volume":"23 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-07-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115069234","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2008-07-13DOI: 10.1109/INDIN.2008.4618080
Zheng Yili, Sun Hanxu, Jia Qingxuan, Shi Guozhen
Based on ARM processor and FPGA co-processor, kinematics control for a 6-DOF (degree of freedom) space manipulator is realized in this paper. The ARM processor uses AT91FR40162, which mainly takes charge of the tractory planning for the space manipulator. Meanwhile, using the CORDIC (Coordinate Rotation Digital Computer) algorithm, the forward and inverse kinematics computation of the space manipulator are implemented in FPGA. This approach can effectively reduce the calculation time of kinematics control and optimize real-time performance of the space manipulator. The principle and architecture of CORDIC IP core are presented, and CORDIC-based pipelines for the kinematics computation are depicted. Furthermore, a novel fault-tolerance central controller for the space manipulator using ARM processor and FPGA co-processor is developed and the control flow is presented particularly. The ground simulative zero-gravity experiment shows that the performance of the central controller meets the real-time and accuracy requirement of the space manipulator.
{"title":"Kinematics control for a 6-DOF space manipulator based on ARM processor and FPGA Co-processor","authors":"Zheng Yili, Sun Hanxu, Jia Qingxuan, Shi Guozhen","doi":"10.1109/INDIN.2008.4618080","DOIUrl":"https://doi.org/10.1109/INDIN.2008.4618080","url":null,"abstract":"Based on ARM processor and FPGA co-processor, kinematics control for a 6-DOF (degree of freedom) space manipulator is realized in this paper. The ARM processor uses AT91FR40162, which mainly takes charge of the tractory planning for the space manipulator. Meanwhile, using the CORDIC (Coordinate Rotation Digital Computer) algorithm, the forward and inverse kinematics computation of the space manipulator are implemented in FPGA. This approach can effectively reduce the calculation time of kinematics control and optimize real-time performance of the space manipulator. The principle and architecture of CORDIC IP core are presented, and CORDIC-based pipelines for the kinematics computation are depicted. Furthermore, a novel fault-tolerance central controller for the space manipulator using ARM processor and FPGA co-processor is developed and the control flow is presented particularly. The ground simulative zero-gravity experiment shows that the performance of the central controller meets the real-time and accuracy requirement of the space manipulator.","PeriodicalId":112553,"journal":{"name":"2008 6th IEEE International Conference on Industrial Informatics","volume":"43 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-07-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114138866","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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