A PC-Based Open Architecture Controller: Design, Implementation, and Operation

1999 ◽  
Author(s):  
Louis A. Marchetti ◽  
Paul K. Wright
Keyword(s):  
Personal Computer ◽  
Controller Design ◽  
Low Cost ◽  
Building Blocks ◽  
Third Party ◽  
Open Architecture ◽  
Software Components ◽  
Machining Center ◽  
Open Architecture Controller ◽  
High Level

Abstract This paper reports the implementation of an open architecture controller on a 3-axis machining center. This new controller, called MOSAIC-PC, takes advantage of readily available, off the shelf components, and the flexibility and low cost of the personal computer. While commercial products have been used as the building blocks for MOSAIC-PC, the overall architecture is novel. Specifically, high level CAD curves and patches, such as NURBS, can be incorporated at the machine level and sensor based machining is integrated in real-time. A description of the hardware and software components is given and the ease of integrating third party components is described. Finally the functionality of MOSAIC-PC is demonstrated.

On Developing an Open Architecture Four Joints Serial Manipulator

2010 ◽  
Author(s):  
Paolo Bosetti ◽  
Francesco Biral
Keyword(s):  
Low Cost ◽  
Open Architecture ◽  
Software Environment ◽  
Teaching Mode ◽  
Laboratory Activity ◽  
Manufacturing Automation ◽  
Automatic Mode ◽  
Motion Simulator ◽  
High Level ◽  
And Control

The presented paper describes how, within a course of Mechatronics Engineering, a low cost, four joints serial manipulator has been designed and implemented. The system has been actively developed by two master degree students within a period of about 10 months, and will be used within laboratory activity modules in courses of Applied Mechanics and Manufacturing Automation. The first part of the paper presents the conceptual design of the manipulator, first by stating requirements and specifications, then by describing the design choices that have been done, from the point of views of system architecture, of mechanical systems, and of electronics and control systems. The second part of the paper presents the aspects of dynamic modeling that are involved in optimal joints movement interpolation, and the related algorithms that have been developed. The third part of the paper outlines the choices that have been done about the software environment (languages and development systems) and detailedly describes the software architecture that has been implemented at low level (i.e. programming of microcontroller that provides the motor driver function) and at high level (i.e. programming of the inverse kinematics, motor dynamics, 3-D motion simulator, user interface). The resulting system can operate in two modes: a manual/teaching mode, where the operator can move the manipulator by means of a joystick and pick a list of points to be saved on a file and routinely reached later on, and an automatic mode, where the manipulator autonomously moves through the points defined in a file (either manually written or created during a previous step while in teaching mode). The last part discusses how the described system suits within an advanced mechatronics course, and how an experimental module can be organized by exploiting the open architecture of the manipulator.

scholarly journals A Reconfigurable and Modular Open Architecture Controller: the New Frontiers

2008 ◽  
Vol 2 (3) ◽  
pp. 205-214 ◽  
Author(s):  
Farooq M ◽  
◽  
Dao Bo Wang
Keyword(s):  
Control Strategy ◽  
Open Architecture ◽  
Original Structure ◽  
Software Components ◽  
Control Software ◽  
Robot System ◽  
Open Architecture Controller ◽  
Central Controller ◽  
Puma Robot

A novel and flexible open architecture controller platform is presented for PUMA Robot system. The original structure of the PUMA robot has been retained. All computational units are removed from the existing PUMA controller, and the PC assumes the role of computing the control strategy. By assembling the controller from off-the-shell hardware and software components, the benefits of reduced cost and improved robustness have been realized. An Intel Pentium IV industrial computer is used as the central controller. The control software has been implemented using VC++ programming language. The trajectory tracking results show the validity of the new PC based controller.

An Alternative Open Architecture Controller Design for the Bioloid Humanoid Robot

2020 ◽  
Vol 16 (JUNE 2020) ◽  
pp. 1-9
Author(s):  
‘Aqilah Zainuddin ◽  
Mohamed Ahmed ◽  
Md Mahfudz Md Zan ◽  
Habibah Hashim
Keyword(s):  
Humanoid Robot ◽  
Controller Design ◽  
Open Architecture ◽  
Open Architecture Controller

The Building Blocks of Formulas to Measure Expectation Damages; the Indifference Principle

2018 ◽  
Author(s):  
Melvin A. Eisenberg
Keyword(s):  
Market Price ◽  
Building Blocks ◽  
Third Party ◽  
Replacement Cost ◽  
Contract Price ◽  
Resale Price ◽  
The Difference ◽  
Lost Profit

Chapter 13 concerns the building blocks of formulas to measure expectation damages: replacement cost, market price, resale price, diminished value, and lost profits. Replacement-cost damages are based on the difference between the contract price and the actual or imputed cost of a replacement transaction. Resale-price damages are based on the difference between the contract price payable by a breaching buyer and the price the seller received on resale to a third party. Diminished-value damages are based on the difference between the value of the performance that a breaching seller rendered and the value of the performance that she promised to render. Lost-profit damages are based on the difference between the price a breaching buyer agreed to pay and the seller’s variable costs.

scholarly journals Hybrid mosquitoes? Evidence from rural Tanzania on how local communities conceptualize and respond to modified mosquitoes as a tool for malaria control

2021 ◽  
Vol 20 (1) ◽  
Author(s):  
Marceline F. Finda ◽  
Fredros O. Okumu ◽  
Elihaika Minja ◽  
Rukiyah Njalambaha ◽  
Winfrida Mponzi ◽  
...  
Keyword(s):  
Malaria Control ◽  
Technology Development ◽  
Low Cost ◽  
Public Support ◽  
Community Leaders ◽  
Community Perceptions ◽  
Novel Technologies ◽  
Control Programmes ◽  
High Level ◽  
Interpretive Frames

Abstract Background Different forms of mosquito modifications are being considered as potential high-impact and low-cost tools for future malaria control in Africa. Although still under evaluation, the eventual success of these technologies will require high-level public acceptance. Understanding prevailing community perceptions of mosquito modification is, therefore, crucial for effective design and implementation of these interventions. This study investigated community perceptions regarding genetically-modified mosquitoes (GMMs) and their potential for malaria control in Tanzanian villages where no research or campaign for such technologies has yet been undertaken. Methods A mixed-methods design was used, involving: (i) focus group discussions (FGD) with community leaders to get insights on how they frame and would respond to GMMs, and (ii) structured questionnaires administered to 490 community members to assess awareness, perceptions and support for GMMs for malaria control. Descriptive statistics were used to summarize the findings and thematic content analysis was used to identify key concepts and interpret the findings. Results Nearly all survey respondents were unaware of mosquito modification technologies for malaria control (94.3%), and reported no knowledge of their specific characteristics (97.3%). However, community leaders participating in FGDs offered a set of distinctive interpretive frames to conceptualize interventions relying on GMMs for malaria control. The participants commonly referenced their experiences of cross-breeding for selecting preferred traits in domestic plants and animals. Preferred GMMs attributes included the expected reductions in insecticide use and human labour. Population suppression approaches, requiring as few releases as possible, were favoured. Common concerns included whether the GMMs would look or behave differently than wild mosquitoes, and how the technology would be integrated into current malaria control policies. The participants emphasised the importance and the challenge of educating and engaging communities during the technology development. Conclusions Understanding how communities perceive and interpret novel technologies is crucial to the design and effective implementation of new vector control programmes. This study offers vital clues on how communities with no prior experience of modified mosquitoes might conceptualize or respond to such technologies when deployed in the context of malaria control programmes. Drawing upon existing interpretive frames and locally-resonant analogies when deploying such technologies may provide a basis for more durable public support in the future.

scholarly journals Multi-Blockchain-Based IoT Data Processing Techniques to Ensure the Integrity of IoT Data in AIoT Edge Computing Environments

Sensors ◽  
2021 ◽  
Vol 21 (10) ◽  
pp. 3515
Author(s):  
Sung-Ho Sim ◽  
Yoon-Su Jeong
Keyword(s):  
Low Cost ◽  
Third Party ◽  
Monitoring And Control ◽  
Constant Size ◽  
Computing Environments ◽  
Iot Devices ◽  
Cloud Servers ◽  
The Cost ◽  
Processing Techniques ◽  
And Control

As the development of IoT technologies has progressed rapidly recently, most IoT data are focused on monitoring and control to process IoT data, but the cost of collecting and linking various IoT data increases, requiring the ability to proactively integrate and analyze collected IoT data so that cloud servers (data centers) can process smartly. In this paper, we propose a blockchain-based IoT big data integrity verification technique to ensure the safety of the Third Party Auditor (TPA), which has a role in auditing the integrity of AIoT data. The proposed technique aims to minimize IoT information loss by multiple blockchain groupings of information and signature keys from IoT devices. The proposed technique allows IoT information to be effectively guaranteed the integrity of AIoT data by linking hash values designated as arbitrary, constant-size blocks with previous blocks in hierarchical chains. The proposed technique performs synchronization using location information between the central server and IoT devices to manage the cost of the integrity of IoT information at low cost. In order to easily control a large number of locations of IoT devices, we perform cross-distributed and blockchain linkage processing under constant rules to improve the load and throughput generated by IoT devices.

scholarly journals E-learning-Oriented Software Architecture Design and Case Study

2015 ◽  
Vol 10 (4) ◽  
pp. 59
Author(s):  
Peng Lu ◽  
Xiao Cong ◽  
Dongdai Zhou
Keyword(s):  
Software Architecture ◽  
Building Blocks ◽  
Domain Model ◽  
Learning System ◽  
Application Framework ◽  
Component Library ◽  
E Learning ◽  
The Difference ◽  
High Level

Nowadays, E-learning system has been widely applied to practical teaching. It was favored by people for its characterized course arrangement and flexible learning schedule. However, the system does have some problems in the process of application such as the functions of single software are not diversified enough to satisfy the requirements in teaching completely. In order to cater more applications in the teaching process, it is necessary to integrate functions from different systems. But the difference in developing techniques and the inflexibility in design makes it difficult to implement. The major reason of these problems is the lack of fine software architecture. In this article, we build domain model and component model of E-learning system and components integration method on the basis of WebService. And we proposed an abstract framework of E-learning which could express the semantic relationship among components and realize high level reusable on the basis of informationized teaching mode. On this foundation, we form an E-learning oriented layering software architecture contain component library layer, application framework layer and application layer. Moreover, the system contains layer division multiplexing and was not built upon developing language and tools. Under the help of the software architecture, we could build characterized E-learning system flexibly like building blocks through framework selection, component assembling and replacement. In addition, we exemplify how to build concrete E-learning system on the basis of this software architecture.

scholarly journals Allogeneic chimerism with low-dose irradiation, antigen presensitization, and costimulator blockade in H-2 mismatched mice

Blood ◽  
2001 ◽  
Vol 97 (2) ◽  
pp. 557-564 ◽  
Author(s):  
Peter J. Quesenberry ◽  
Suju Zhong ◽  
Han Wang ◽  
Marc Stewart
Keyword(s):  
Low Dose ◽  
Great Majority ◽  
Cd40 Ligand ◽  
Third Party ◽  
Whole Body ◽  
Spleen Cells ◽  
Graft Versus Host ◽  
Dose Irradiation ◽  
Unique Model ◽  
High Level

Abstract We have previously shown that the keys to high-level nontoxic chimerism in syngeneic models are stem cell toxic, nonmyelotoxic host treatment as provided by 100-cGy whole-body irradiation and relatively high levels of marrow stem cells. This approach was unsuccessful in H-2 mismatched B6.SJL to BALB/c marrow transplants, but with tolerization, stable multilineage chimerism was obtained. Ten million B6.SJL spleen cells were infused intravenously into BALB/c hosts on day −10 and (MR-1) anti-CD40 ligand monoclonal antibody (mAb) injected intraperitoneally at varying levels on days −10, −7, −3, 0, and +3 and the BALB/c mice irradiated (100 cGy) and infused with 40 million B6.SJL/H-2 mismatched marrow cells on day 0. Stable multilineage chimerism at levels between 30% to 40% was achieved in the great majority of mice at 1.6 mg anti-CD40 ligand mAb per injection out to 64 weeks after transplantation, without graft-versus-host disease. The transplanted mice were also tolerant of donor B6.SJL, but not third-party CBA/J skin grafts at 8 to 9 and 39 to 43 weeks after marrow transplantation. These data provide a unique model for obtaining stable partial chimerism in H-2 mismatched mice, which can be applied to various clinical diseases of man such as sickle cell anemia, thalassemia, and autoimmune disorders.

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