分布式多机器人装配系统任务合作规划算法研究

:综述了多机器人系统任务规划的研究 ,介绍了基于 Agent的分布协作式多机器人装配系统 ,给出了分布式多机器人系统任务协商规划算法 ,采用了改进的合同网协议方法。针对多机器人任务规划算法的软件实现 ,采用了先进的分布式对象技术 ,介绍了算法的具体实现方法

CIMS设计过程中存在的一些问题及解决方案

提出了一种新的集成的I2 DEF方法 ,并介绍了与之配套的设计开发工具 ,用以支持大型复杂信息系统的设计与开发 ,它可以成功地解决计算机集成制造系统设计开发过程中遇到的许多问题。本文指出了我国CIMS工程存在的问题 ,分析了这些问题产生的原因 ,并结合企业实际给出了应用I2 DEF方法的解决方案。

面向CIMS的多数据源互操作与开放分布处理系统———CIMS-MIODP的设计与实现

多数据源互操作与开放分布处理系统ＣＩＭＳ－ＭＩＯＤＰ是采用分布对象互操作与代理技术，实现面向ＣＩＭＳ的基于ＲＰＣ的远程对象访问ＲＯＡ（ＲｅｍｏｔｅＯｂｊｅｃｔＡｃｅｓ）功能和基于ＳＱＬ３的远程数据库访问ＲＤＡ（ＲｅｍｏｔＤａｔａｂａｓｅＡｃｅｓ）功能的系统，为ＣＩＭＳ环境下的信息集成与分布处理提供了不同层次的支持功能。本文讨论了ＣＩＭＳ－ＭＩＯＤＰ系统的主要设计和实现问题，包括基本模型、扩展服务和协议、对ＳＱＬ３的支持、系统实现结构等。

对象互操作的行为模型

对象互操作表达了一组对象在完成某一任务时的动态协作关系，对象互操作的行为描述与抽象是支持面向应用对象互操作的基础．对此，提出一种活动模型作为描述对象互操作行为的方法．该方法以一阶时态逻辑为基础，表达了互操作对象之间交换消息的时态顺序和不同活动之间的行为关系．在该方法中，提出了活动特化和活动聚合两种行为抽象机制，实现了对象互操作行为的复用．最后讨论了给定论域的类模式和活动模式的一致性集成问题。

分布式对象技术在多机器人系统中的应用

本文介绍了我们建立的基于Ａｇｎｅｔ的分布协作式多机器人装配系统－ＤＡＭＡＳ，在此基础上研究了多机器人合作的协商协议，采用了改进的合同网协议方法，针对多机器人协商协议的软件实现了，采用了应用前景广阔的分布式对象技术，介绍了机器人合作装配的协商协议的具体实现方法。

The design and implementation of an active replication scheme for distributing services in a cluster of workstations

Replication is the key to providing high availability, fault tolerance, and enhanced performance in a cluster of workstations (COWs). However, building such a system remains as a difficult and challenging task, mainly due to the difficulty of maintaining data consistency among replicas and the lack of easy and efficient tools supporting the development procedure. In this paper we propose an active replication scheme in which data consistency can be maintained. Based on the active replication scheme, we present an object-oriented design pattern and a constructing tool to simplify the design and implementation of service replications in COWs.

Utilizing the CORBA platform in the construction of a highly immersive virtual environment

This article presents the implementation of a distributed system of virtual reality, through the integration of services offered by the CORBA platform (Common Object Request Broker Architecture) and by the environment of development of 3D graphic applications in real time, the WorldToolkit, of Sense8. The developed application for the validation of this integration is that of a virtual city, with an emphasis on its traffic ways, vehicles (movable objects) and buildings (immovable objects). In this virtual world, several users can interact, each one controlling his/her own car. Since the modelling of the application took into consideration the criteria and principles of the Transport Engineering, the aim is to use it in the planning, project and construction of traffic ways for vehicles. The system was structured according to the approach client/server utilizing multicast communication among the participating nodes. The chosen implementation for the CORBA was the Iona's ORBIX software. The performance results obtained are presented and discussed in the end.

Exploiting Structured Linked Data in Enterprise Knowledge Management Systems: An Idea Management Case Study

In parallel to the effort of creating Open Linked Data for the World Wide Web there is a number of projects aimed for developing the same technologies but in the context of their usage in closed environments such as private enterprises. In the paper, we present results of research on interlinking structured data for use in Idea Management Systems - a still rare breed of knowledge management systems dedicated to innovation management. In our study, we show the process of extending an ontology that initially covers only the Idea Management System structure towards the concept of linking with distributed enterprise data and public data using Semantic Web technologies. Furthermore we point out how the established links can help to solve the key problems of contemporary Idea Management Systems

A multi-resource load balancing algorithm for cloud cache systems

With the advent of cloud computing model, distributed caches have become the cornerstone for building scalable applications. Popular systems like Facebook [1] or Twitter use Memcached [5], a highly scalable distributed object cache, to speed up applications by avoiding database accesses. Distributed object caches assign objects to cache instances based on a hashing function, and objects are not moved from a cache instance to another unless more instances are added to the cache and objects are redistributed. This may lead to situations where some cache instances are overloaded when some of the objects they store are frequently accessed, while other cache instances are less frequently used. In this paper we propose a multi-resource load balancing algorithm for distributed cache systems. The algorithm aims at balancing both CPU and Memory resources among cache instances by redistributing stored data. Considering the possible conflict of balancing multiple resources at the same time, we give CPU and Memory resources weighted priorities based on the runtime load distributions. A scarcer resource is given a higher weight than a less scarce resource when load balancing. The system imbalance degree is evaluated based on monitoring information, and the utility load of a node, a unit for resource consumption. Besides, since continuous rebalance of the system may affect the QoS of applications utilizing the cache system, our data selection policy ensures that each data migration minimizes the system imbalance degree and hence, the total reconfiguration cost can be minimized. An extensive simulation is conducted to compare our policy with other policies. Our policy shows a significant improvement in time efficiency and decrease in reconfiguration cost.

Methods for conflict resolution in policy-based management systems

While developments in distributed object computing environments, such as the Common Object Request Broker Architecture (CORBA) [17] and the Telecommunication Intelligent Network Architecture (TINA) [16], have enabled interoperability between domains in large open distributed systems, managing the resources within such systems has become an increasingly complex task. This challenge has been considered for several years within the distributed systems management research community and policy-based management has recently emerged as a promising solution. Large evolving enterprises present a significant challenge for policy-based management partly due to the requirement to support both mutual transparency and individual autonomy between domains [2], but also because the fluidity and complexity of interactions occurring within such environments requires an ability to cope with the coexistence of multiple, potentially inconsistent policies. This paper discusses the need of providing both dynamic (run-time) and static (compile-time) conflict detection and resolution for policies in such systems and builds on our earlier conflict detection work [7, 8] to introduce the methods for conflict resolution in large open distributed systems.

Improved adaptivity and robustness in decentralised multi-camera networks

In this paper we present increased adaptivity and robustness in distributed object tracking by multi-camera networks using a socio-economic mechanism for learning the vision graph. To build-up the vision graph autonomously within a distributed smart-camera network, we use an ant-colony inspired mechanism, which exchanges responsibility for tracking objects using Vickrey auctions. Employing the learnt vision graph allows the system to optimise its communication continuously. Since distributed smart camera networks are prone to uncertainties in individual cameras, such as failures or changes in extrinsic parameters, the vision graph should be sufficiently robust and adaptable during runtime to enable seamless tracking and optimised communication. To better reflect real smart-camera platforms and networks, we consider that communication and handover are not instantaneous, and that cameras may be added, removed or their properties changed during runtime. Using our dynamic socio-economic approach, the network is able to continue tracking objects well, despite all these uncertainties, and in some cases even with improved performance. This demonstrates the adaptivity and robustness of our approach.

A distributed protocol for object tracking in wireless multimedia sensor networks

We consider the problem of object tracking in a wireless multimedia sensor network (we mainly focus on the camera component in this work). The vast majority of current object tracking techniques, either centralised or distributed, assume unlimited energy, meaning these techniques don't translate well when applied within the constraints of low-power distributed systems. In this paper we develop and analyse a highly-scalable, distributed strategy to object tracking in wireless camera networks with limited resources. In the proposed system, cameras transmit descriptions of objects to a subset of neighbours, determined using a predictive forwarding strategy. The received descriptions are then matched at the next camera on the objects path using a probability maximisation process with locally generated descriptions. We show, via simulation, that our predictive forwarding and probabilistic matching strategy can significantly reduce the number of object-misses, ID-switches and ID-losses; it can also reduce the number of required transmissions over a simple broadcast scenario by up to 67%. We show that our system performs well under realistic assumptions about matching objects appearance using colour.