The using of operational automaton of transitions as the block of microinstruction addressing of compositional microprogram control unit is proposed. The new structure model of compositional microprogram control unit with reduced hardware amount is developed. The generalized structure of operational automaton of transitions is suggested. An example of process of synthesis of compositional microprogram control unit with operational automaton of transitions is given.
Abstract The paper presents a review of methods of implementing timers in Programmable Logic Controllers, along with a discussion of the timer properties. The authors focus on software implementations, as this approach has dominated practical solutions. An important part of the discussion is analysis of errors in time delay generation, and possible error sources. A typical case of a PLC generating a predefined time delay is analyzed. The discussion is concluded with recommendations on implementing timers, intended for PLC designers.
The method is proposed for reduction of hardware amount in logic circuit of Moore finite state machine implemented with PLAs. It is based on using classes of pseudoequivalent states. Each a class corresponds to a unique state of equivalent Mealy FSM. In this method the next state code is represented as a concatenation of codes for class of pseudoequivalent states and collection of output variables. Such an approach allows the elimination of dependence among states and output variables.
The paper shows the description of ontology which solves several issues. The first section of the paper shows general theory about ontology. We mention the definition of ontology and its use in automation technique. The OWL DL language which is mentioned in the first section is described here for our following work. The second part of the text shows the solution of two issues. The first one is the solution of the industrial automation device description. The article shows possible ways to the creation of the device description through the using of ontology. The second issue is a work with a lot of data which are used by modern devices. The paper shows a part of ontology which is used for data integration.
A new two-stage method of FSMs synthesis for PAL-based CPLD is proposed. It is based on both the wide fan-in of PAL cells and existence of the classes of pseudoequivalent states of Moore FSM. The first step targets decreasing for the number of PAL cells used for implementing the input memory functions. The second step targets decreasing for the number of PAL cells in the block of microoperations. An example of application of the proposed method is given, as well as, results of experiments carried out for standard benchmarks.
Modern wireless technologies didn't avoid smart metering as an integral part of smart grids. They have a high flexibility and can be easily integrated into existing installations, it is feasible to use them for communication with meters. The goal of this paper is to give awareness of commonly used protocols/technologies in smart metering, provide basic characteristics of them and describe their deployment in smart grids and the consequent advantages/disadvantages.
This paper deals with the design and implementation of a quadrotor aerial robot. At first, simplified quadrotor model was created. The model describes quadrotor as a MIMO (Multiple Inputs Multiple Outputs) system, which is further divided into four independent SISO (Single Inputs Single Outputs) systems. These systems correspond to rotational movements in all robot axes and one translation movement, which represents flight altitude. Special attention was paid to the identification of actuators. On the basis of the model 4 DOF (Degree of Freedom) stabilization was designed. The stabilization consists of four independent controllers, all of them use auxiliary controlled variable. Inner loops, that control velocities, are controlled by fast P controllers and outer loops use PI controllers due to suppression of disturbances. Designed stabilization was tested by simulation and on a real flying model as well. The paper also describes hardware and software solution.
This paper presents scanning system providing three-dimensional models. Use of laser scanner mounted on robotic manipulator provides very flexible device capable of building models of both tiny detailed structures and large object. It could be used in many various applications, especially in health care, where it brings lot of advantages comparing to present scanning systems. Mechanical constitution, interfacing approaches and operating principles of this device are described.
This article provides a requisite holistic concept for embedded MFDs from the SW maintenance point of view addressing the problems of MFD symbol modification. Embedded Multifunction Displays (MFDs) show information from their parent system in form of symbols, providing clarity and user support. Especially in long-living systems such as a helicopter MFDs demand constant maintenance and adaptation. Because of the concentrated display of system activity the MFD software (SW) has to be capable of coping with MFD-specific and display-relevant system changes. Beneath there are model-based approaches defining graphical user interface (GUI) development. However no pattern can be derived for MFD SW specifications concerning how to compose display symbols. The missing pattern for symbol design does not affect the model based SW development. As long as the specification is formally described, code can be generated from it, generating the symbols on the MFD. But especially when it comes to modifying larger numbers of symbols during maintenance, the symbol specification does impact the efficiency of change processes. In addition, since MFDs are highly dependent on other systems, display relevant system changes need MFD SW modification. Therefore MFD SW maintenance has to take the embedded character into account, e.g. how changes in information of display relevant systems are adapted to the MFD symbols. In order to save time, current development models for embedded systems encourage to partition the systems into further (sub-)systems and design each of them simultaneously independent of each other. In case of MFD symbol modification caused by other systems, however, these traditional approaches make the SW maintenance rather messy and time-consuming. Therefore, a holistic approach taking account of subsystem interdependency is introduced that provides clear instruction and information on how and in which development stage SW adaptations are to be made. Two use cases demonstrate the viability of the concept.
Lung simulators are important for different application fields like respirator manufacturing processes, teaching purposes as well as environmental and analytical aerosol transport measurements. State-of-the-art lung simulators have a great disadvantage of not taking the internal structure of the human lung into account. Furthermore it is not possible to simulate aerosol exposition to these lung equivalents. To overcome these restrictions and disadvantages, the i-Lung has been developed primarily as an active lung simulator, which can also be used as a passive lung simulator. With the i-Lung it is possible to simulate physiological and pathological breathing patterns with different lung equivalents like latex bags, primed porcine lungs or even fresh porcine lungs. The presented versions 1.0 and 2.0 of the i-Lung are compared in the mechanical and electrical setup. As a development of the i-Lung 1.0, the i-Lung 2.0 provides a refined mechanical construction, more flexible fields of application and an interchangeable dual control unit. The control unit of the lung simulator is either an integrated single based computer (SBC) or the NI cRIO system. With the cRIO control unit, the i-Lung 2.0 is able to perform real time data transmission. Due to the further developments and improvements of the i-Lung system, more physiological and realistic breathing simulation can be executed with the i-Lung 2.0. Thus, the developed lung simulator becomes a real alternative to animal testing. This can be especially interesting for the cosmetic industry, as animal testing has been banned within the EU for the hazardousness and toxicity tests of cosmetic products since March 11th 2013.
The objective of this paper is to report about measurement and control systems in the experimental solar-hydrogen storage energetic system based on proton exchange membrane (PEM) fuel cell and PEM electrolyzer units. Experimental independent stand-alone energetic system was developed and realised in Fuel cells laboratory at VSB-Technical University of Ostrava where is in operation from fall 2010.
This paper describes the identification of permanent magnet synchronous motor through Hammerstein model. Motor is divided into two systems: a static nonlinear part and dynamic linear part. The only static nonlinear part is used for identification of quadrature and direct inductance by numeric methods namely Newton method and Gauss-Newton method. These methods are very sensitive to noise, which is included in the measured currents. The following text is about a comparison of these methods and several adjustments that increase the accuracy of these methods.
In the paper we consider a software suit for multilevel programming of computer systems with reconfigurable macro-object architecture. We describe programming methods and software tools for development of effective parallel applications for multichip reconfigurable computer systems (RCS). The main distinctive feature of the software suit in comparison with similar known software tools is automatized partitioning of the parallel application into fragments, each of which is structurally implemented in a separate FPGA of a multichip RCS, and software tools of reconfigurable macro-object architecture development for implementation of tasks from various problem domains.
In this paper is presented architecture of the controller for controlling the base configuration of PUMA 560 robot (three axes). Developed controller (designated for student education) has hardware part based on Altera Cyclon II FPGA chip implemented on DE2 development board and software part MATLAB® with corresponding toolboxes. Matlab with installed Robotics Toolbox was used for the purposes such as generating trajectory of movement, calculating inverse kinematics, gravity compensation and simulation of manipulator movements. The control structures were which have been previously devised in Matlab/DSP Builder using FPGA Real Time Toolbox were implemented on FPGA chip. Performed experimental results showed that proposed concept of the controller design satisfied appointed requirements such as easy simulation, programming and testing controller performances, so the next objective of research will be design of the improved control algorithms of robot and design of new Teachbox.
The aim of the paper is to present the role of the human element in regularly used man-machine systems (MMS). From the technical point of view, it is possible to denote the human being and the machine as two components of one system. The decision priority problem within the MMS has recently been accentuated, especially in relation to high-risk systems, where any failure of the human factor may have serious consequences.
The paper presents a computer program 'VHDLMultGenerator', which is an IP core generator supporting synthesis of arithmetic multiplication. On the basis of some simple options selected by the user the program generates a synthesizable VHDL code of a multiplication block which can be incorporated in a bigger design. The VHDL code uses a mixed dataflow and structural description style at the RTL level of abstraction. The code is in general architecture-independent and can be ported to any PLD synthesis software which supports VHDL design entry. Several algorithms of performing multiplication, implemented in the IP core generator, are also briefly described.
The aim of this article is summary of the analysis for the implementation of ball on an inclined plane laboratory task with NCS (Networked Controll System). There was designed and implemented feedback control loop NCS with Ethernet communication within the local network of Laboratory of regulation systems for this purpose. There was used Matlab engineering tool for analysis and Humusoft MF624 data acquisition card with open source tools for realization and implementation of the regulation process.
In this paper is presented realization of integral environment which consists of software and hardware components for the purpose of programming Altera DE boards.Software component is Toolbox FPGA Real Time which enables simple use of Matlab/Simulink with DSP Builder for the purpose of realization of control structures.Hardware component are Interface cards that make connection of DE board with object of control possible.Simulation and experimental results of DC motor control indicate the usefulness of the proposed concept.
The paper presents various solutions for a Central Processing Unit (CPU) of Programmable Logic Controllers (PLC) developed on the basis of three typical microcontrollers from the families MCS- 51, AVR and ARM with the Cortex M3 core. The control program for these CPUs was developed in an Instruction List (IL) language that was in conformity with recommendations of the IEC-61131-3 standard. The most important issue that had to be resolved was translation of original commands in the IL language into own programming languages of the mentioned microcontrollers. The paper demonstrates that the commands of the IL language can be translated into fragments of runtime programs via procedures developed in the C language. The results achieved from all competed experiments make it possible to conclude that it is possible to design an efficient CPU, competitive in terms of the speed and time of the program execution, with use of standard microcontrollers.
This paper focuses on the developed autonomous recognition system for traffic signs elements detection and recognizing in application with various possibilities for parameters and limits setting. The designed system algorithms and methods gives usability to detect traffic signs elements inside image obtained from camera. The recognition process is composed of combination of bitmaps image algorithms and geometrical elements methods for better success of recognition and more efficient with smaller time consuming processes. The complex autonomous system structure is designed for real-time application, because of reasons for scanning and processing camera in the control and safety car applications. The developed system prevents possible errors made by human inattention with assistant for the car driving. The algorithm parts and methods of recognition system are simulated in mathematical simulation programming environment – MATLAB.
