Computer hardware and software for robotic control

The KSC has implemented an integrated system that coordinates state-of-the-art robotic subsystems. It is a sensor based real-time robotic control system performing operations beyond the capability of an off-the-shelf robot. The integrated system provides real-time closed loop adaptive path control of position and orientation of all six axes of a large robot; enables the implementation of a highly configurable, expandable testbed for sensor system development; and makes several smart distributed control subsystems (robot arm controller, process controller, graphics display, and vision tracking) appear as intelligent peripherals to a supervisory computer coordinating the overall systems

Exploiting programmable architectures for WiFi/ZigBee inter-technology cooperation

The increasing complexity of wireless standards has shown that protocols cannot be designed once for all possible deployments, especially when unpredictable and mutating interference situations are present due to the coexistence of heterogeneous technologies. As such, flexibility and (re)programmability of wireless devices is crucial in the emerging scenarios of technology proliferation and unpredictable interference conditions. In this paper, we focus on the possibility to improve coexistence performance of WiFi and ZigBee networks by exploiting novel programmable architectures of wireless devices able to support run-time modifications of medium access operations. Differently from software-defined radio (SDR) platforms, in which every function is programmed from scratch, our programmable architectures are based on a clear decoupling between elementary commands (hard-coded into the devices) and programmable protocol logic (injected into the devices) according to which the commands execution is scheduled. Our contribution is two-fold: first, we designed and implemented a cross-technology time division multiple access (TDMA) scheme devised to provide a global synchronization signal and allocate alternating channel intervals to WiFi and ZigBee programmable nodes; second, we used the OMF control framework to define an interference detection and adaptation strategy that in principle could work in independent and autonomous networks. Experimental results prove the benefits of the envisioned solution

Datacenter Traffic Control: Understanding Techniques and Trade-offs

Datacenters provide cost-effective and flexible access to scalable compute and storage resources necessary for today's cloud computing needs. A typical datacenter is made up of thousands of servers connected with a large network and usually managed by one operator. To provide quality access to the variety of applications and services hosted on datacenters and maximize performance, it deems necessary to use datacenter networks effectively and efficiently. Datacenter traffic is often a mix of several classes with different priorities and requirements. This includes user-generated interactive traffic, traffic with deadlines, and long-running traffic. To this end, custom transport protocols and traffic management techniques have been developed to improve datacenter network performance. In this tutorial paper, we review the general architecture of datacenter networks, various topologies proposed for them, their traffic properties, general traffic control challenges in datacenters and general traffic control objectives. The purpose of this paper is to bring out the important characteristics of traffic control in datacenters and not to survey all existing solutions (as it is virtually impossible due to massive body of existing research). We hope to provide readers with a wide range of options and factors while considering a variety of traffic control mechanisms. We discuss various characteristics of datacenter traffic control including management schemes, transmission control, traffic shaping, prioritization, load balancing, multipathing, and traffic scheduling. Next, we point to several open challenges as well as new and interesting networking paradigms. At the end of this paper, we briefly review inter-datacenter networks that connect geographically dispersed datacenters which have been receiving increasing attention recently and pose interesting and novel research problems.Comment: Accepted for Publication in IEEE Communications Surveys and Tutorial

Autonomous power system intelligent diagnosis and control

The Autonomous Power System (APS) project at NASA Lewis Research Center is designed to demonstrate the abilities of integrated intelligent diagnosis, control, and scheduling techniques to space power distribution hardware. Knowledge-based software provides a robust method of control for highly complex space-based power systems that conventional methods do not allow. The project consists of three elements: the Autonomous Power Expert System (APEX) for fault diagnosis and control, the Autonomous Intelligent Power Scheduler (AIPS) to determine system configuration, and power hardware (Brassboard) to simulate a space based power system. The operation of the Autonomous Power System as a whole is described and the responsibilities of the three elements - APEX, AIPS, and Brassboard - are characterized. A discussion of the methodologies used in each element is provided. Future plans are discussed for the growth of the Autonomous Power System

Unified radio and network control across heterogeneous hardware platforms

Experimentation is an important step in the investigation of techniques for handling spectrum scarcity or the development of new waveforms in future wireless networks. However, it is impractical and not cost effective to construct custom platforms for each future network scenario to be investigated. This problem is addressed by defining Unified Programming Interfaces that allow common access to several platforms for experimentation-based prototyping, research, and development purposes. The design of these interfaces is driven by a diverse set of scenarios that capture the functionality relevant to future network implementations while trying to keep them as generic as possible. Herein, the definition of this set of scenarios is presented as well as the architecture for supporting experimentation-based wireless research over multiple hardware platforms. The proposed architecture for experimentation incorporates both local and global unified interfaces to control any aspect of a wireless system while being completely agnostic to the actual technology incorporated. Control is feasible from the low-level features of individual radios to the entire network stack, including hierarchical control combinations. A testbed to enable the use of the above architecture is utilized that uses a backbone network in order to be able to extract measurements and observe the overall behaviour of the system under test without imposing further communication overhead to the actual experiment. Based on the aforementioned architecture, a system is proposed that is able to support the advancement of intelligent techniques for future networks through experimentation while decoupling promising algorithms and techniques from the capabilities of a specific hardware platform

Development and implementation of a LabVIEW based SCADA system for a meshed multi-terminal VSC-HVDC grid scaled platform

This project is oriented to the development of a Supervisory, Control and Data Acquisition (SCADA) software to control and supervise electrical variables from a scaled platform that represents a meshed HVDC grid employing National Instruments hardware and LabVIEW logic environment. The objective is to obtain real time visualization of DC and AC electrical variables and a lossless data stream acquisition. The acquisition system hardware elements have been configured, tested and installed on the grid platform. The system is composed of three chassis, each inside of a VSC terminal cabinet, with integrated Field-Programmable Gate Arrays (FPGAs), one of them connected via PCI bus to a local processor and the rest too via Ethernet through a switch. Analogical acquisition modules were A/D conversion takes place are inserted into the chassis. A personal computer is used as host, screen terminal and storing space. There are two main access modes to the FPGAs through the real time system. It has been implemented a Scan mode VI to monitor all the grid DC signals and a faster FPGA access mode VI to monitor one converter AC and DC values. The FPGA application consists of two tasks running at different rates and a FIFO has been implemented to communicate between them without data loss. Multiple structures have been tested on the grid platform and evaluated, ensuring the compliance of previously established specifications, such as sampling and scanning rate, screen refreshment or possible data loss. Additionally a turbine emulator was implemented and tested in Labview for further testing

Visualization of Time-Varying Data from Atomistic Simulations and Computational Fluid Dynamics

Time-varying data from simulations of dynamical systems are rich in spatio-temporal information. A key challenge is how to analyze such data for extracting useful information from the data and displaying spatially evolving features in the space-time domain of interest. We develop/implement multiple approaches toward visualization-based analysis of time-varying data obtained from two common types of dynamical simulations: molecular dynamics (MD) and computational fluid dynamics (CFD). We also make application case studies. Parallel first-principles molecular dynamics simulations produce massive amounts of time-varying three-dimensional scattered data representing atomic (molecular) configurations for material system being simulated. Rendering the atomic position-time series along with the extracted additional information helps us understand the microscopic processes in complex material system at atomic length and time scales. Radial distribution functions, coordination environments, and clusters are computed and rendered for visualizing structural behavior of the simulated material systems. Atom (particle) trajectories and displacement data are extracted and rendered for visualizing dynamical behavior of the system. While improving our atomistic visualization system to make it versatile, stable and scalable, we focus mainly on atomic trajectories. Trajectory rendering can represent complete simulation information in a single display; however, trajectories get crowded and the associated clutter/occlusion problem becomes serious for even moderate data size. We present and assess various approaches for clutter reduction including constrained rendering, basic and adaptive position merging, and information encoding. Data model with HDF5 and partial I/O, and GLSL shading are adopted to enhance the rendering speed and quality of the trajectories. For applications, a detailed visualization-based analysis is carried out for simulated silicate melts such as model basalt systems. On the other hand, CFD produces temporally and spatially resolved numerical data for fluid systems consisting of a million to tens of millions of cells (mesh points). We implement time surfaces (in particular, evolving surfaces of spheres) for visualizing the vector (flow) field to study the simulated mixing of fluids in the stirred tank

Control of multiple tele-operated Robotic Bridge Transporters for remote handling of hazardous material

The objective of this research is to develop control of a multiple telerobot system based on Direct Numerical Processing Technology and propose a practically implementable collision avoidance algorithm for two gantry type robots sharing a common workspace; The tele-operatic set-up consists of two Robotic Bridge Transporters which are X-Y-Z positioning overhead bridge type cranes. These cranes consisting of three sub-assemblies for the X, Y and Z motions respectively are actuated by brushless servo drive motors. The DC motors are controlled by Modicon FA3240 automation controllers from a supervisory control station equipped with computer graphics based human-machine interface. Teleoperation is achieved through a programmable logic controller which acts as a command arbiter and data interface between the automation controllers and the supervisory control station computer; The collision avoidance algorithm proposes a collision free approach for a given path, by means of a minimum delay time technique for the two robots. Two examples, one each for a single segment and a two segment path for the two robots were tried out and found to work satisfactorily. The same can be extended to several segments as may be needed. The implementation methodology has been discussed