scholarly journals Using Graphics Processing Units and Compute Shaders in Real Time Multimodel Adaptive Robust Control

Electronics ◽  
2021 ◽  
Vol 10 (20) ◽  
pp. 2462
Author(s):  
Cosmin-Constantin Mihai ◽  
Ciprian Lupu

Graphics processing units and video cards have seen a surge of usage in domains other than graphics computers, due to advances in hardware and software technologies; however, little uptake has been in the domain of systems engineering and real time control. This research article will demonstrate the use of video cards in multimodel adaptive robust control, using openGL and compute shaders. A software simulation will show the behavior of the adaptive robust multimodel control scheme as the target process is exposed to both parametric and structural disturbances and will show the viability of using graphics processing units in real time systems control.

2014 ◽  
Vol 945-949 ◽  
pp. 1372-1375
Author(s):  
Peng Zhang ◽  
Qin Guo ◽  
Bin Wang

Through the analysis of RTLinux source code and real-time performance of various testing experiment on the RTLinux, and its application in a distributed robot control system using CAN bus, realize the real-time control of robot joints. Write the code of real-time module on RTLinux, analyzing the real-time performance using related kernel time testing function. Under Linux using QT write user interface for robot control, running on the Linux user space. The interface program and the real-time program communicate via RT-FIFO. Specify the location of each robot joint in the interface program, compared with the feedback from the actual joint position trajectory, evaluate the control effect of real-time systems.


Electronics ◽  
2019 ◽  
Vol 8 (2) ◽  
pp. 211 ◽  
Author(s):  
Ionel Zagan ◽  
Vasile Găitan

The task context switch operation, the inter-task synchronization and communication mechanisms, as well as the jitter occurred in treating aperiodic events, are crucial factors in implementing real-time operating systems (RTOS). In practice and literature, several solutions can be identified for improving the response speed and performance of real-time systems. Software implementations of RTOS-specific functions can generate significant delays, adversely affecting the deadlines required for certain applications. This paper presents an original implementation of a dedicated processor, based on multiple pipeline registers, and a hardware support for a dynamic scheduler with the following characteristics: performs unitary event management, provides access to architecture shared resources, prioritizes and executes the multiple events expected by the same task. The paper also presents a method through which interrupts are assigned to tasks. Through dedicated instructions, the integrated hardware scheduler implements tasks synchronization with multiple prioritized events, thus ensuring an efficient functioning of the processor in the context of real-time control.


Author(s):  
S. L. Schmuter ◽  
Y. A. Hamidieh

Abstract Flexibility of software for real-time control of machinery becomes one of the major objectives in view of ever increasing software costs. Such flexibility promotes efficiency in the development stage, but even more so, it enhances maintainability and facilitates upgrade during retooling and job changeover. A multilevel organization of software is described whereby the computational units in a particular level perform a special class of tasks and have specific privileges assigned to that level. A slot-matrix frame of the top control level along with a knowledge base provides for flexible chaining of various functions from the levels below, thus allowing substantial new features to be incorporated into the system if and when required. At the interactive level, selection alternatives for the operator are intelligently inferred and displayed through a rule base, and inputs are interpreted. The entire software is embedded in a number of processes for off-line computations, real-time control, transformations and data transfer. An example for robotic applications is elaborated.


2021 ◽  
Author(s):  
SangKyeun Kim ◽  
Ricardo Shousha ◽  
SangHee Hahn ◽  
Andrew Nelson ◽  
Josiah Wai ◽  
...  

Abstract Mitigation of deleterious heat flux from edge-localized modes (ELMs) on fusion reactors is often attempted with 3D perturbations of the confining magnetic fields. However, the established technique of resonant magnetic perturbations (RMPs) also degrades plasma performance, complicating implementation on future fusion reactors. In this paper, we introduce an adaptive real-time control scheme as a viable approach to simultaneously achieve both ELM-free states and recovered high-confinement (βN~1.91$ and HN~0.9), demonstrating successful handling of a volatile complex system through adaptive measures. We show that, by exploiting a salient hysteresis process to adaptively minimize the RMP strength, stable ELM suppression can be achieved while actively encouraging confinement recovery. This is made possible by a self-organized transport response in the plasma edge which reinforces the confinement improvement through a widening of the ion pedestal and promotes control stability, in contrast to the deteriorating effect on performance observed in standard RMP experiments. These results establish the real-time approach as an up-and-coming solution towards an optimized ELM-free state, which is an important step for the operation of ITER and reactor-grade tokamak plasmas. Notably, the real-time adaptive control scheme introduced here provides a path towards economic fusion reactors by maximizing the fusion gain while minimizing damage to machine components.


2017 ◽  
Vol 66 (12) ◽  
pp. 10911-10922 ◽  
Author(s):  
Mauro Salazar ◽  
Camillo Balerna ◽  
Philipp Elbert ◽  
Fernando P. Grando ◽  
Christopher H. Onder

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