This report presents a load sharing heuristic for distributed computing on workstation clusters. The approach is novel in that it combines the use of predicted resource requirements of processes (CPU-time, memory requirements, density of the I/O-stream) and a fuzzy logic controller which makes the placement decision. The heuristic is distributed, i.e. each node runs a copy of the prediction and...

This paper presents a pole-placement based control algorithm to treat ISA Fieldbus H1 delay problems. A digital network delay model is embedded with the process model in order to design a suitable closed-loop controller. The effect of different values of network delay against sampling time is analyzed. Pole-placement technique should not simplify zeros in order to achieve stability in closed-lo...

An accurate and realistic mathematical model is usually considered essential in controller design. The present paper presents a new approach which permits the controller to approximately accomplish the desired control objectives without the need for detailed knowledge of a mathematical model of the physical system— provided reliable and accurate sensor measurements of the output variables and t...

Two different adaptive controllers for systems with backlash acting on the input are discussed; one in continuous time and one in discrete time. Both schemes are based on a backlash inverse and a linear controller. The unknown plant parameters and the backlash width are estimated. The estimated parameters are used for pole placement design of the controller and for backlash compensation in the ...

In this paper, inverse optimal control theory is used to design a state or an output feedback controller that both places the closed loop poles at desired positions and satisfies a linear quadratic criterion. The design method consists of two steps, first n-m poles are precisely placed and second the remaining m poles are selected to satisfy optimality criteria, where n is the number of the sys...

Fast-paced dynamic environments like robot soccer require highly responsive and dynamic locomotion. We present an implementation of an omnidirectional ZMP-based walk engine for the Nao robot. Using a simple inverted pendulum model, a preview controller generates dynamically balanced center of mass trajectories. To enable path planning, we introduce a system of global and egocentric coordinate f...

In this paper, a new approach to design gain scheduled robust linear parameter varying (LPV) PID controllers with pole placement constraints (through LMI regions) is proposed for LPV systems with second order structure and time-varying delay. The controller structure includes a Smith predictor, real time estimated parameters that schedule the controller (including the known part of the delay) a...

This paper presents a method of hardening the 8051 micro-controller, able to assure reliable operation in the presence of bit flips caused by radiation. Aiming at avoiding such faults in the 8051 micro-controller, Hamming code protection was used in its SRAM memory and registers. A VHDL code has been used for this hamming code protection. Keywords—Radiation, hardening, bitflip, hamming code.