Earticle

This paper presents a framework for smart services of robots in an intelligent environment. Within such intelligent environment, the target platform consists of service robots and a framework for smart services including task allocation and task scheduling. For task allocation, we use an auction-based method and a knapsack problem algorithm. In this paper, the characteristics of the algorithm for allocation balancing are to delegate executing task to another robot, to reallocate the delayed task to more than one robot, and to withdraw overallocated robots from the current task.

Events are crammed with numerous basic elements in today’s management and manufacturing system. Especially, for a large-scale system, there are thousands of independent messages (events) happening every second. How to integrate the information and how to deal with such massive events are faced by most of the system. Event monitoring and processing has been posed in manufacturing corporations to tackle this challenge. However, well-prepared methodology and processing are lack for this challenge. In this article, we propose an extensible event-driven manufacturing platform for handling those massive events. First, holistic architecture of the platform is depicted. Next, the principle of primitive and complex event is detailed. Eventually, Complex Event Processing (CEP) approach is applied to the platform.

Switched Ethernet is one of the most widely used networks and has many features for realtime communications such as providing traffic isolation, large bandwidth, and full-duplex links, and so on. The switched Ethernet, however, cannot guarantee the timely delivery of a real-time message due to possible collisions on the output ports. This paper first suggests a feasible condition for real-time communication of periodic messages on a master-slave-based synchronized switched Ethernet. Then an EDF (Earliest Deadline First)-based scheduling algorithm that satisfies the proposed scheduling condition is proposed. The master node checks the feasible condition for messages and makes a message transmission schedule for feasible messages. The proposed scheduling algorithm can handle dynamic message requests and performs the real-time communication without any modification in the switch. The performance of the proposed scheduling algorithm has been evaluated by simulation to show the timely delivery of real-time messages and the real-time communication capacity of the switched Ethernet.

Most UAV(unmaned aerial vehicle) systems use GPS signals only to locate the emitter’s position. However GPS signals contain unwanted information contaminated by environmental components and many interference signals. In this paper, to obtain TDoA signal, we use two UAVs which are equipped with embedded wireless sensors. Under the real geolocation circumstance, it is very difficult to estimate the emitter’s position exactly due to environmental noise. In this paper we use the dual-EKF algorithm to obtain the optimal estimation of state values and unknown parameters. The dual-EKF algorithm overcomes the weakness of EKF algorithm which has been widely used in geolocation problem. The performance of our proposed algorithm will be demonstrated through some simulations of UAVs.