软件定义网络(Software Defined Networking,SDN)的基本思想是将数据平面与控制平面解耦和,从而简化网络管理。无线网络应用该思想,开放无线网络可编程接口,分离无线控制平面与数据平面,诞生了软件定义无线网络(Software Defined Wirele...软件定义网络(Software Defined Networking,SDN)的基本思想是将数据平面与控制平面解耦和,从而简化网络管理。无线网络应用该思想,开放无线网络可编程接口,分离无线控制平面与数据平面,诞生了软件定义无线网络(Software Defined Wireless Networking,SDWN)。重点介绍了SDWN中软件定义无线局域网(Software Defined Wireless Local Area Networks,SDN-Wi Fi)的研究进展。首先从SDN-Wi Fi的诞生背景入手,梳理总结了SDN-Wi Fi的分层网络体系架构;然后,介绍了SDN-Wi Fi中几种关键技术的研究进展,包括WLAN中的接入技术和漫游技术,密集部署和集中管理,以及负载均衡等问题;然后,论述了目前研究SDN-Wi Fi的几种不同的方法,包括实际网络环境的部署和SDN-Wi Fi仿真工具的研究;最后,分析并展望了未来SDN-Wi Fi所面临的挑战和发展趋势。展开更多
This paper describes the replacement of a controller for a programmable universal machine for assembly (PUMA) 512 robot with a newly designed PC based (open architecture) controller employing a real-time direct contro...This paper describes the replacement of a controller for a programmable universal machine for assembly (PUMA) 512 robot with a newly designed PC based (open architecture) controller employing a real-time direct control of six joints. The original structure of the PUMA robot is retained. The hardware of the new controller includes such in-house designed parts as pulse width modulation (PWM) amplifiers, digital and analog controllers, I/O cards, signal conditioner cards, and 16-bit A/D and D/A boards. An Intel Pentium IV industrial computer is used as the central controller. The control software is implemented using VC++ programming language. The trajectory tracking performance of all six joints is tested at varying velocities. Experimental results show that it is feasible to implement the suggested open architecture platform for PUMA 500 series robots through the software routines running on a PC. By assembling controller from off-the-shell hardware and software components, the benefits of reduced and improved robustness have been realized.展开更多
文摘软件定义网络(Software Defined Networking,SDN)的基本思想是将数据平面与控制平面解耦和,从而简化网络管理。无线网络应用该思想,开放无线网络可编程接口,分离无线控制平面与数据平面,诞生了软件定义无线网络(Software Defined Wireless Networking,SDWN)。重点介绍了SDWN中软件定义无线局域网(Software Defined Wireless Local Area Networks,SDN-Wi Fi)的研究进展。首先从SDN-Wi Fi的诞生背景入手,梳理总结了SDN-Wi Fi的分层网络体系架构;然后,介绍了SDN-Wi Fi中几种关键技术的研究进展,包括WLAN中的接入技术和漫游技术,密集部署和集中管理,以及负载均衡等问题;然后,论述了目前研究SDN-Wi Fi的几种不同的方法,包括实际网络环境的部署和SDN-Wi Fi仿真工具的研究;最后,分析并展望了未来SDN-Wi Fi所面临的挑战和发展趋势。
文摘This paper describes the replacement of a controller for a programmable universal machine for assembly (PUMA) 512 robot with a newly designed PC based (open architecture) controller employing a real-time direct control of six joints. The original structure of the PUMA robot is retained. The hardware of the new controller includes such in-house designed parts as pulse width modulation (PWM) amplifiers, digital and analog controllers, I/O cards, signal conditioner cards, and 16-bit A/D and D/A boards. An Intel Pentium IV industrial computer is used as the central controller. The control software is implemented using VC++ programming language. The trajectory tracking performance of all six joints is tested at varying velocities. Experimental results show that it is feasible to implement the suggested open architecture platform for PUMA 500 series robots through the software routines running on a PC. By assembling controller from off-the-shell hardware and software components, the benefits of reduced and improved robustness have been realized.
