scholarly journals Evaluation of a fault-tolerant call control system

2004 ◽  
Vol 17 (1) ◽  
pp. 33-40 ◽  
Author(s):  
Marjan Bozinovski ◽  
Liljana Gavrilovska ◽  
Ramjee Prasad ◽  
Hans-Peter Schwefel
Keyword(s):  
Control System ◽  
Theoretical Analysis ◽  
Fault Tolerant ◽  
Failure Detection ◽  
Ip Multimedia Subsystem ◽  
Call Control ◽  
Signaling Protocol ◽  
The Core ◽  
Control Concept ◽  
Functional Features

The session initiation protocol (SIP) is the main signaling protocol in the 3GPP IP multimedia subsystem (IMS). The SIP sessions in IMS have to be highly reliable. The developed fault-tolerant SIP call control concept includes state-sharing mechanism, failure-detection and fail-over management. The state-sharing mechanism representing the core entity in the overall system has been developed to meet the specific SIP functional features and requirements for reliability of SIP services. Theoretical analysis and measurements in a prototype implementation showed that TFTP outperforms FTP.

scholarly journals Gremlins: an Architectural Framework for Reconfigurable Autonomous Robots

2021 ◽  
Author(s):  
James Gaston
Keyword(s):  
Control System ◽  
Communication System ◽  
Communication Systems ◽  
Autonomous Robots ◽  
Fault Tolerant ◽  
Failure Detection ◽  
Base Station ◽  
Communication Strategy ◽  
Stair Climbing ◽  
Control Architecture

The work area of a team of small robots is limited by their inability to traverse a very common obstacle: stairs. We present a complete integrated control architecture and communication strategy for a system of reconfigurable robots that can climb stairs. A modular robot design is presented which allows the robots to dynamically reconfigure to traverse certain obstacles. This thesis investigates the implementation of a system of autonomous robots which can cooperatively reconfigure themselves to collectively travers obstacle such as stairs. We present a complete behaviorand communication system which facilitates this autonomous reconfiguration. The layered behavior-based control system is fault-tolerant and extends the capabilities of a control architecture known as ALLIANCE. Behavior classes are introduced as mechanism for managing ordering dependencies and monitoring a robot's progress through a particular task. The communication system compliments the behavioral control and iimplementsinherent robot failure detection without the need for a base station or external monitor. The behavior and communication systems are validated by implementing them ona mobile robot platform synthesized specifically for this research. Experimental trials showed that the implementation of the behavior control systems was successful. The control system provided robust, fault-tolerant performance even when robots failed to perform docking tasks while recongifuring. Once the robots reconfigure to form a chain, a different control scheme based on gait control tables coordinates the individual movements of the robots. Several successful stair climbing trials were accomplished. Improvements to the mechanical design are proposed.

scholarly journals Gremlins: an Architectural Framework for Reconfigurable Autonomous Robots

2021 ◽  
Author(s):  
James Gaston
Keyword(s):  
Control System ◽  
Communication System ◽  
Communication Systems ◽  
Autonomous Robots ◽  
Fault Tolerant ◽  
Failure Detection ◽  
Base Station ◽  
Communication Strategy ◽  
Stair Climbing ◽  
Control Architecture

The work area of a team of small robots is limited by their inability to traverse a very common obstacle: stairs. We present a complete integrated control architecture and communication strategy for a system of reconfigurable robots that can climb stairs. A modular robot design is presented which allows the robots to dynamically reconfigure to traverse certain obstacles. This thesis investigates the implementation of a system of autonomous robots which can cooperatively reconfigure themselves to collectively travers obstacle such as stairs. We present a complete behaviorand communication system which facilitates this autonomous reconfiguration. The layered behavior-based control system is fault-tolerant and extends the capabilities of a control architecture known as ALLIANCE. Behavior classes are introduced as mechanism for managing ordering dependencies and monitoring a robot's progress through a particular task. The communication system compliments the behavioral control and iimplementsinherent robot failure detection without the need for a base station or external monitor. The behavior and communication systems are validated by implementing them ona mobile robot platform synthesized specifically for this research. Experimental trials showed that the implementation of the behavior control systems was successful. The control system provided robust, fault-tolerant performance even when robots failed to perform docking tasks while recongifuring. Once the robots reconfigure to form a chain, a different control scheme based on gait control tables coordinates the individual movements of the robots. Several successful stair climbing trials were accomplished. Improvements to the mechanical design are proposed.

Fault-tolerant SIP-based call control system

2003 ◽  
Vol 39 (2) ◽  
pp. 254 ◽  
Author(s):  
M. Bozinovski ◽  
L. Gavrilovska ◽  
R. Prasad
Keyword(s):  
Control System ◽  
Fault Tolerant ◽  
Call Control

A Novel Vertical Lift Machine and its Precise Pose Control

2014 ◽  
Vol 989-994 ◽  
pp. 3105-3109
Author(s):  
Xiao Bo Liu ◽  
Xiao Feng Wei ◽  
Xiao Dong Yuan ◽  
Wei Ni
Keyword(s):  
Control System ◽  
Theoretical Analysis ◽  
Control Method ◽  
High Accuracy ◽  
Inverse Kinematic ◽  
Design Model ◽  
Pose Control ◽  
Vertical Lift ◽  
Position And Orientation ◽  
Control Principle

This paper deals with the design and theoretical analysis on a novel vertical lift machine which can vertically lift above 700 kg load up to 3.2 meters above the floor and located the load with high accuracy of position and orientation. Firstly the design model based on the installment demands of line-replaceable units (LRUs) is constructed. Then theoretical analysis including the number of degree of freedom of the lift machine, the inverse kinematic, the control principle, the lift platform pose error and the precise pose control method are conducted in the article. The validity of the design model and the effectiveness of the precise pose control system are confirmed by experiments using a prototype lift machine.

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