Unaprijeđena metoda estimacije položaja zasnovana na upotrebi dvodimenzionalnog polja za ažuriranje parametara

The paper presents results of studies on the position estimation for the permanent magnet synchronous motor (PMSM) drive using gain scheduling technique for tuning the observer\u27s parameters. It allows a good estimation accuracy in wide range of working point change. Such observer with multi integral correction function improves the performance, but need to modify its parameters according to its speed and load. Novelty is the use of a two-dimensional gain scheduling technique and the use in the sensorless drive, where traditional solution is simple one-input scheduling variable - mainly on drives with position sensors. The look-up table output is processed using bilinear interpolation. Position observer is based on back EMF estimation. It uses predefined reference matrices of parameters, which are interpolated and depend on drive\u27s operating point.U radu su predstavljeni rezultati studija vezanih za estimaciju položaja sinkronog motora s permanentnim magnetima (PMSM) uz korištenje regulatora s podesivim pojačanjem za adaptaciju parametara estimatora. Metoda pokazuje dobru točnost estimacije u širokom rasponu radnog područja. Ovakav estimator s više integracijskih korekcijskih funkcija poboljšava performanse, ali i zahtijeva adaptaciju parametara ovisno o brzini i teretu. Novost predstavlja korištenje dvodimenzionalnog podešavanja pojačanja regulatora te primjena u bezsenzorskom upravljanju elektromotornim pogonom, gdje se tradicionalno koristi jednostavno ažuriranje jedne varijable - prije svega kod elektromotornih pogona sa senzorom za poziciju. Pregledna tablica izlaza koristi se uz bilinearnu interpolaciju. Estimator položaja zasnovan je na estimaciji protuelektromotorne sile. Estimator koristi unaprijed određene referentne matrice parametara koje se interpoliraju te ovise o radnoj točki

An optimized conflict-free replicated set

Eventual consistency of replicated data supports concurrent updates, reduces latency and improves fault tolerance, but forgoes strong consistency. Accordingly, several cloud computing platforms implement eventually-consistent data types. The set is a widespread and useful abstraction, and many replicated set designs have been proposed. We present a reasoning abstraction, permutation equivalence, that systematizes the characterization of the expected concurrency semantics of concurrent types. Under this framework we present one of the existing conflict-free replicated data types, Observed-Remove Set. Furthermore, in order to decrease the size of meta-data, we propose a new optimization to avoid tombstones. This approach that can be transposed to other data types, such as maps, graphs or sequences.Comment: No. RR-8083 (2012

Convergent and commutative replicated data types

Eventual consistency aims to ensure that replicas of some mutable shared object converge without foreground synchronisation. Previous approaches to eventual consistency are ad-hoc and error-prone. We study a principled approach: to base the design of shared data types on some simple formal conditions that are sufficient to guarantee eventual consistency. We call these types Convergent or Commutative Replicated Data Types (CRDTs). This paper formalises asynchronous object replication, either state based or operation based, and provides a sufficient condition appropriate for each case. It describes several useful CRDTs, including container data types supporting both add and remove operations with clean semantics, and more complex types such as graphs and monotonic DAGs. It discusses some properties needed to implement non-trivial CRDTs.This research was supported in part by ANR project ConcoRDanT (ANR-10-BLAN 0208), and a Google Research Award 2009. Marek Zawirski is a recipient of the Google Europe Fellowship in Distributed Computing, and this research is supported in part by this Google Fellowship. Carlos Baquero is partially supported by FCT project Castor (PTDC/EIA-EIA/104022/2008)

Dependable eventual consistency with replicated data types

Eventually consistent replicated databases offer excellent responsiveness and fault-tolerance, but expose applications to the complexity of concurrency andfailures. Recent databases encapsulate these problems behind a stronger interface, supporting causal consistency, which protects the application from orderinganomalies, and/or Replicated Data Types (RDTs), which ensure convergent semantics of concurrent updates using object interface. However, dependable algorithms for RDT and causal consistency come at a cost in metadata size. This thesis studies the design of such algorithms with minimized metadata, and the limits of the design space. Our first contribution is a study of metadata complexity of RDTs. RDTs use metadata to provide rich semantics; many existing RDT implementations incur high overhead in storage space. We design optimized set and register RDTs with metadata overhead reduced to the number of replicas. We also demonstrate metadata lower bounds for six RDTs, thereby proving optimality of four implementations. Our second contribution is the design of SwiftCloud, a replicated causally-consistent RDT object database for client-side applications. We devise algorithms to support high numbers of client-side partial replicas backed by the cloud, in a fault-tolerant manner, with small metadata. We demonstrate how to support availability and consistency, at the expense of some slight data staleness; i.e., our approach trades freshness for scalability (small metadata, parallelism), and availability (ability to fail-over between data centers). We validate our approach with experiments involving thousands of client replicas.Les bases de données répliquées cohérentes à terme récentes encapsulent la complexité de la concurrence et des pannes par le biais d'une interface supportant la cohérence causale, protégeant l'application des problèmes d'ordre, et/ou des Types de Données Répliqués (RDTs), assurant une sémantique convergente des mises-à-jour concurrentes en utilisant une interface objet. Cependant, les algorithmes fiables pour les RDTs et la cohérence causale ont un coût en terme de taille des métadonnées. Cette thèse étudie la conception de tels algorithmes avec une taille de métadonnées minimisée et leurs limites. Notre première contribution est une étude de la complexité des métadonnées des RDTs. Les nombreuses implémentations existantes impliquent un important surcoût en espace de stockage. Nous concevons un ensemble optimisé et un registre RDTs avec un surcoût des métadonnées réduit au nombre de répliques. Nous démontrons également les bornes inférieures de la taille des métadonnées pour six RDTs, prouvant ainsi l'optimalité de quatre implémentations. Notre seconde contribution est le design de SwiftCloud, une base de données répliquée causalement cohérente d'objets RDTs pour les applications côté client. Nous concevons des algorithmes qui supportent un grand nombre de répliques partielles côté client, s'appuyant sur le cloud, tout en étant tolérant aux fautes et avec une faible taille de métadonnées. Nous démontrons comment supporter la disponibilité (y compris la capacité à basculer entre des centre de données lors d'une erreur), la cohérence et le passage à l'échelle (petite taille de métadonnées, parallélisme) au détriment d'un léger retard dans l'actualisation des données

Eventually consistent register revisited

In order to converge in the presence of concurrent updates, modern eventually consistent replication systems rely on causality information and operation semantics. It is relatively easy to use semantics of high-level operations on replicated data structures, such as sets, lists, etc. However, it is difficult to exploit semantics of operations on registers, which store opaque data. In existing register designs, concurrent writes are resolved either by the application, or by arbitrating them according to their timestamps. The former is complex and may require user intervention, whereas the latter causes arbitrary updates to be lost. In this work, we identify a register construction that generalizes existing ones by combining runtime causality ordering, to identify concurrent writes, with static data semantics, to resolve them. We propose a simple conflict resolution template based on an application-predefined order on the domain of values. It eliminates or reduces the number of conflicts that need to be resolved by the user or by an explicit application logic. We illustrate some variants of our approach with use cases, and how it generalizes existing designs.This projects was supported in part by: Project Norte01-0145-FEDER-000020 under the North Portugal Regional Operational Programme (Norte 2020), under the Portugal 2020 Partnership Agreement, and through the European Regional Development Fund (ERDF); EU FP7 SyncFree project (609551); FCT/MCT projects SwiftComp (PTDC/ EEISCR/ 1837/ 2012) and NOVA LINCS (UID/CEC/04516/2013); and a Google Faculty Research Award 2013.info:eu-repo/semantics/publishedVersio

Auto-tuning o f PID controller based on fuzzy logic

Issues related to the automatic selection of the PID controller settings have been known for several years. This article describes the concept of self-tuning using fuzzy logic block (FLB). The FLB represents expert knowledge and in the process serves as the master. It describes the advantages of the designed structure of fuzzy logic simulation system application. The paper contains block diagram descriptions of designed controller and control loop. The designed tuning algorithm bases on quality indicators and rule bases which was described as membership functions. The readjustment of the controller settings takes place in subsequent iterations of the tuning process. Simulation tests result of the proposed tuning system topology were presented. As the simulation environment was used Matlab Simulink

SwiftCloud: Fault-Tolerant Geo-Replication Integrated all the Way to the Client Machine

Client-side logic and storage are increasingly used in web and mobile applications to improve response time and availability. Current approaches tend to be ad-hoc and poorly integrated with the server-side logic. We present a principled approach to integrate client- and server-side storage. We support mergeable and strongly consistent transactions that target either client or server replicas and provide access to causally-consistent snapshots efficiently. In the presence of infrastructure faults, a client-assisted failover solution allows client execution to resume immediately and seamlessly access consistent snapshots without waiting. We implement this approach in SwiftCloud, the first transactional system to bring geo-replication all the way to the client machine. Example applications show that our programming model is useful across a range of application areas. Our experimental evaluation shows that SwiftCloud provides better fault tolerance and at the same time can improve both latency and throughput by up to an order of magnitude, compared to classical geo-replication techniques

Conflict-free Replicated Data Types

International audienceReplicating data under Eventual Consistency (EC) allows any replica to accept updates without remote synchronisation. This ensures performance and scalability in large-scale distributed systems (e.g., clouds). However, published EC approaches are ad-hoc and error-prone. Under a formal Strong Eventual Consistency (SEC) model, we study sufficient conditions for convergence. A data type that satisfies these conditions is called a Conflict-free Replicated Data Type (CRDT). Replicas of any CRDT are guaranteed to converge in a self-stabilising manner, despite any number of failures. This paper formalises two popular approaches (state- and operation-based) and their relevant sufficient conditions. We study a number of useful CRDTs, such as sets with clean semantics, supporting both add and remove operations, and consider in depth the more complex Graph data type. CRDT types can be composed to develop large-scale distributed applications, and have interesting theoretical properties