Self-Adaptive Compliant Persistent Architectures
نویسندگان
چکیده
Systems that can dynamically adapt their operating parameters to changing conditions are increasingly needed, especially for long-lived or large applications. Current selfadaptive algorithms tend to be directed at particular optimisations and rarely operate in concert with other optimisations. The static nature of conventional systems design is not conducive to adaptation. Further, the poor structure and uncoordinated manner in which individual optimisations are incorporated leads to unconstrained complexity of operation. Such lack of structure can lead to poorer than expected or pathological performance, especially where heavy demands are made upon the system. The Compliant Systems Architecture is a design regime which defines a strict methodology of system composition. In this methodology each application layer or operational abstraction is separated into the policy and mechanism parts, and the interfaces include features allowing policy information to be passed. This methodology combined with the simplification of system operation of orthogonally persistent systems allows the construction of adaptive control structures in which it is tractable to reason about interactions of policies and provide a global control of operation. The aim is to provide experience and insights in self tuning and adaptive systems that will also be of value in more general purpose operating systems and application designs.
منابع مشابه
A compliant persistent architecture
The changing needs of modern application systems demand new and radical software architectures to support them. The attraction of persistent systems is that they define precisely the extent to which they are open, thereby allowing the dynamically changing resource requirements of applications to be tracked accurately within the persistent environment. Thus, an ever-growing body of work is being...
متن کاملEu Fp7 Amarsi Adaptive Modular Architectures for Rich Motor Skills
Due date of deliverable 15st March 2011 Actual submission date 6th April 2011 Lead Partner IIT Revision Final Dissemination level Public This deliverable focuses on the design of compliant actuators. The state of the art of compliant actuation systems is firstly introduced by presenting some implementations of the different functional principles. A comparison analysis of the features/capabiliti...
متن کاملA Compliant Multi-finger Grasp Approach Control Strategy Based on the Virtual Spring Framework
This paper presents an adaptive compliant multi-finger grasp approach control strategy based on based on a new interpretation of the virtual spatial spring framework, to improve the grasp performance for target objects with position errors. An n-finger virtual spatial spring frame is proposed to achieve the adaptive compliant grasp control. Twofinger grasp control based on a single virtual spri...
متن کاملEu Fp7 Amarsi Adaptive Modular Architectures for Rich Motor Skills Publish Compliance Extension to Icub Simulator
Due date of deliverable 15st March 2011 Actual submission date 6th April 2011 Lead Partner IIT Revision Final Dissemination level Public This deliverable reports on the ongoing activities in Workpackage 2, and in particular the work within T2.2 related to the modeling of compliance of the currently under development compliant humanoid robot. Modelling compliance in the robot drive system is cri...
متن کاملState Emulator-based Adaptive Architectures for Resilient Networked Multiagent Systems over Directed and Time-varying Graphs
In this paper, we present adaptive architectures for networked multiagent systems operating over directed networks to achieve resilient coordination in the presence of disturbances. Specifically, we consider a class of unforeseen adverse conditions consisting of persistent exogenous disturbances and present a state emulator-based distributed adaptive control architecture to retrieve the nominal...
متن کامل