The rising number of electronic control units （ECUs） in vehicles and the decreasing time to market have led to the need for advanced methods of calibration. A multi-ECU calibration system was developed based on the ...The rising number of electronic control units （ECUs） in vehicles and the decreasing time to market have led to the need for advanced methods of calibration. A multi-ECU calibration system was developed based on the explicit calibration protocol （XCP） and J1939 communication protocol to satisfy the need of calibrating multiple ECUs simultaneously. The messages in the controller area network （CAN） are defined in the J1939 protocol. Each CAN node can get its own calibration messages and information from other ECUs, and block other messages by qualifying the CAN messages with priority, source or destination address. The data field of the calibration message is designed with the XCP, with CAN acting as the transport layer. The calibration sessions are setup with the event-triggered XCP driver in the master node and the responding XCP driver in the slave nodes. Mirroring calibration variables from ROM to RAM enables the user to calibrate ECUs online. The application example shows that the multi-ECU calibration system can calibrate multiple ECUs simultaneously, and the main program can also accomplish its calculation and send commands to the actuators in time. By the multi-ECU calibration system, the calibration effort and time can be reduced and the variables in ECU can get a better match with the variables of other ECUs.展开更多
This paper reviews robotic position and force control techniques. The existing fundamental force control algorithms are compared and discussed, including explicit/implicit control, stiffness control, impedance/admit- ...This paper reviews robotic position and force control techniques. The existing fundamental force control algorithms are compared and discussed, including explicit/implicit control, stiffness control, impedance/admit- tance control, and hybrid position/force control. This work is intended to give a basic guidance for understanding and utilization of the fundamental robotic control algorithm.展开更多
Delay and throughput are the two network indicators that users most care about.Traditional congestion control methods try to occupy buffer aggressively until packet loss being detected,causing high delay and variation...Delay and throughput are the two network indicators that users most care about.Traditional congestion control methods try to occupy buffer aggressively until packet loss being detected,causing high delay and variation.Using AQM and ECN can highly reduce packet drop rate and delay,however they may also lead to low utilization.Managing queue size of routers properly means a lot to congestion control method.Keeping traffic size varying around bottleneck bandwidth creates some degree of persistent queue in the router,which brings in additional delay into network unwillingly,but a corporation between sender and router can keep it under control.Proper persistent queue not only keeps routers being fully utilized all the time,but also lower the variation of throughput and delay,achieving the balance between delay and utilization.In this paper,we present BCTCP(Buffer Controllable TCP),a congestion control protocol based on explicit feedback from routers.It requires sender,receiver and routers cooperating with each other,in which senders adjust their sending rate according to the multiple bit load factor information from routers.It keeps queue length of bottleneck under control,leading to very good delay and utilization result,making it more applicable to complex network environments.展开更多
According to the Wide Area Network model and queue dynamics in the router, the authors formulate the Internet flow control as a constrained convex programming problem, where the objective is to maximize the total util...According to the Wide Area Network model and queue dynamics in the router, the authors formulate the Internet flow control as a constrained convex programming problem, where the objective is to maximize the total utility and minimize transmission delay and delay jitter of all sources over their transmission rates. Based on this formulation, flow control can be solved by means of a gradient projection algorithm with properly rate iterations. The main difficulty facing the realization of the iteration algorithm is the distributed computation of the congestion measure. Fortunately, Explicit Congestion Notification (ECN) is likely to be used to improving the performance of TCP in the near future. By using ECN, it is possible to realize the iteration algorithm in IP networks. The algorithm is divided into two parts, algorithms in the router and the source. The main advantage of the scheme is its fast convergence ability and robustness, but small queue length fluctuation is unavoidable when the number of users increases.展开更多
现有TCP协议的拥塞控制机制存在很多不足,XCP(eXplicit Control Protocol)协议采用显式反馈的方式有效地克服了这些缺陷。XCP协议能容忍数据流之间一定的RTT差异,但当这种差异超出一定范围时,XCP协议性能恶化,变得不稳定。通过分析XCP...现有TCP协议的拥塞控制机制存在很多不足,XCP(eXplicit Control Protocol)协议采用显式反馈的方式有效地克服了这些缺陷。XCP协议能容忍数据流之间一定的RTT差异,但当这种差异超出一定范围时,XCP协议性能恶化,变得不稳定。通过分析XCP协议路由控制周期与数据流RTT的关系,提出了一种控制周期根据RTT差异程度而自适应调整的方法,消除了系统振荡。仿真数据表明,该方法能有效地提高XCP协议在数据流RTT差异较大的环境下的鲁棒性,同时不给路由器带来过大的计算负担。展开更多
文摘The rising number of electronic control units （ECUs） in vehicles and the decreasing time to market have led to the need for advanced methods of calibration. A multi-ECU calibration system was developed based on the explicit calibration protocol （XCP） and J1939 communication protocol to satisfy the need of calibrating multiple ECUs simultaneously. The messages in the controller area network （CAN） are defined in the J1939 protocol. Each CAN node can get its own calibration messages and information from other ECUs, and block other messages by qualifying the CAN messages with priority, source or destination address. The data field of the calibration message is designed with the XCP, with CAN acting as the transport layer. The calibration sessions are setup with the event-triggered XCP driver in the master node and the responding XCP driver in the slave nodes. Mirroring calibration variables from ROM to RAM enables the user to calibrate ECUs online. The application example shows that the multi-ECU calibration system can calibrate multiple ECUs simultaneously, and the main program can also accomplish its calculation and send commands to the actuators in time. By the multi-ECU calibration system, the calibration effort and time can be reduced and the variables in ECU can get a better match with the variables of other ECUs.
文摘This paper reviews robotic position and force control techniques. The existing fundamental force control algorithms are compared and discussed, including explicit/implicit control, stiffness control, impedance/admit- tance control, and hybrid position/force control. This work is intended to give a basic guidance for understanding and utilization of the fundamental robotic control algorithm.
基金supported in part by the National Key R&D Program of China(2018YFB1800602)the Ministry of Education-China Mobile Research Fund Project(MCM20180506)the CERNET Innovation Project(NGIICS20190101)and(NGII20170406)。
文摘Delay and throughput are the two network indicators that users most care about.Traditional congestion control methods try to occupy buffer aggressively until packet loss being detected,causing high delay and variation.Using AQM and ECN can highly reduce packet drop rate and delay,however they may also lead to low utilization.Managing queue size of routers properly means a lot to congestion control method.Keeping traffic size varying around bottleneck bandwidth creates some degree of persistent queue in the router,which brings in additional delay into network unwillingly,but a corporation between sender and router can keep it under control.Proper persistent queue not only keeps routers being fully utilized all the time,but also lower the variation of throughput and delay,achieving the balance between delay and utilization.In this paper,we present BCTCP(Buffer Controllable TCP),a congestion control protocol based on explicit feedback from routers.It requires sender,receiver and routers cooperating with each other,in which senders adjust their sending rate according to the multiple bit load factor information from routers.It keeps queue length of bottleneck under control,leading to very good delay and utilization result,making it more applicable to complex network environments.
文摘According to the Wide Area Network model and queue dynamics in the router, the authors formulate the Internet flow control as a constrained convex programming problem, where the objective is to maximize the total utility and minimize transmission delay and delay jitter of all sources over their transmission rates. Based on this formulation, flow control can be solved by means of a gradient projection algorithm with properly rate iterations. The main difficulty facing the realization of the iteration algorithm is the distributed computation of the congestion measure. Fortunately, Explicit Congestion Notification (ECN) is likely to be used to improving the performance of TCP in the near future. By using ECN, it is possible to realize the iteration algorithm in IP networks. The algorithm is divided into two parts, algorithms in the router and the source. The main advantage of the scheme is its fast convergence ability and robustness, but small queue length fluctuation is unavoidable when the number of users increases.
文摘现有TCP协议的拥塞控制机制存在很多不足,XCP(eXplicit Control Protocol)协议采用显式反馈的方式有效地克服了这些缺陷。XCP协议能容忍数据流之间一定的RTT差异,但当这种差异超出一定范围时,XCP协议性能恶化,变得不稳定。通过分析XCP协议路由控制周期与数据流RTT的关系,提出了一种控制周期根据RTT差异程度而自适应调整的方法,消除了系统振荡。仿真数据表明,该方法能有效地提高XCP协议在数据流RTT差异较大的环境下的鲁棒性,同时不给路由器带来过大的计算负担。
