Admissible Decentralized Control of Petri Nets
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一篇关于区块链的英文作文Title: Understanding Blockchain Technology。
Blockchain technology has emerged as a revolutionary concept in recent years, promising to disrupt various industries and reshape traditional systems. At its core, blockchain is a decentralized, distributed ledgertechnology that enables secure and transparent transactions without the need for intermediaries. In this essay, we will delve into the key aspects of blockchain technology, its applications, and its potential impact on society.First and foremost, blockchain operates on a decentralized network of nodes, each maintaining a copy of the entire ledger. This decentralized nature ensures thatno single entity has control over the network, making it resistant to censorship and tampering. Transactions are grouped into blocks, which are cryptographically linked to form a chain. This immutable chain of blocks ensures the integrity and security of the data stored on the blockchain.One of the most notable applications of blockchain technology is in the realm of cryptocurrencies, withBitcoin being the first and most well-known example.Bitcoin introduced the concept of a peer-to-peer electronic cash system, allowing users to transfer value across the globe without the need for intermediaries such as banks. Blockchain technology ensures the security and transparency of Bitcoin transactions, making it a viable alternative to traditional fiat currencies.Beyond cryptocurrencies, blockchain has found applications in various industries, including finance, supply chain management, healthcare, and voting systems. In finance, blockchain enables faster and more secure cross-border payments, reducing transaction costs and eliminating intermediaries. Supply chain management benefits from blockchain's ability to track the movement of goods from the point of origin to the end consumer, enhancing transparency and traceability. In healthcare, blockchain can secure patient records, facilitate interoperability between healthcare providers, and streamline administrativeprocesses. Additionally, blockchain-based voting systems offer a transparent and tamper-resistant way to conduct elections, ensuring the integrity of the democratic process.Despite its potential benefits, blockchain technology also faces challenges and limitations. Scalability remainsa significant issue, with existing blockchain networks struggling to handle large volumes of transactions efficiently. Moreover, concerns about energy consumptionand environmental impact have been raised, particularly in the case of proof-of-work consensus mechanisms used by some blockchain networks.Looking ahead, the widespread adoption of blockchain technology hinges on overcoming these challenges and addressing regulatory concerns. Interoperability between different blockchain networks will be crucial for realizing the full potential of the technology, allowing seamless transfer of assets and data across platforms. Additionally, advancements in scalability and consensus mechanisms willbe needed to support the growing demands of real-world applications.In conclusion, blockchain technology holds immense promise for revolutionizing various industries and transforming the way we conduct business and interact with each other. Its decentralized, transparent, and secure nature makes it a powerful tool for fostering trust and efficiency in a wide range of applications. As blockchain continues to evolve and mature, its impact on society is likely to be profound, ushering in a new era of innovation and digital transformation.。
高三英语现代科技前沿探索阅读理解30题1<背景文章>Artificial intelligence (AI) is rapidly transforming the field of healthcare. AI has the potential to revolutionize medical diagnosis, treatment, and patient care.One of the most significant applications of AI in healthcare is in medical imaging. AI algorithms can analyze medical images, such as X-rays, CT scans, and MRIs, to detect diseases and abnormalities with greater accuracy and speed than human radiologists. For example, AI can detect early signs of cancer in mammograms with a high degree of accuracy, potentially saving countless lives.AI is also being used in drug discovery and development. By analyzing large amounts of biological data, AI can identify potential drug targets and predict the efficacy and safety of new drugs. This can significantly reduce the time and cost of drug development and bring new treatments to patients more quickly.In addition to medical imaging and drug discovery, AI is being applied in many other areas of healthcare, such as personalized medicine, telemedicine, and patient monitoring. For example, AI-powered wearable devices can monitor a patient's vital signs and detect early signs of illness,allowing for early intervention and treatment.However, the use of AI in healthcare also presents several challenges. One of the main challenges is ensuring the accuracy and reliability of AI algorithms. As with any new technology, there is a risk of errors and false positives. Another challenge is ensuring the privacy and security of patient data. AI algorithms require access to large amounts of patient data to be effective, but this data must be protected from unauthorized access and misuse.Despite these challenges, the potential benefits of AI in healthcare are enormous. As the technology continues to evolve and improve, it is likely that AI will play an increasingly important role in the future of healthcare.1. What is one of the main applications of AI in healthcare?A. Medical research.B. Medical imaging.C. Patient education.D. Hospital management.答案:B。
The sheer size of systems suchas printing machines, conveyor belts, steel rolling mills or bottling plants require longcables connecting the individual electrical machinery and system parts.AN35.01.ENApplication NoteSufficient Voltage at the End of Long Cables.Michael RaspotnigData can be transmitted over long distances without problem. However,the same cannot be said about power for 24V devices. Severe voltage drops can occur if the wires are not sized properly. These voltage drops are often underestimated and can cause control components to fail or trigger a reset. Devices seldom draw current evenly. For example temporary volta-ge fluctuations can occur when a motor is connected and draws a high starting current so analyzing the cau-ses of the failure is therefore much harder. We get similar effects when connecting loads with large input capacities.In this case one solution is to connect a DC/DC converter as a “24 volt refresher” upstream of the loadwhich generates a regulated 24V vol-tage to compensate for the fluctuati-on. DC-UPS’s or buffer modules are ineffective in this situation.Decentralized power supplies Locating the power supply unit close to the device is one remedy as the drop at the 230V or 400V end is negli-gible due to the lower current. This would also counteract the general trend for decentralization.However, 24V power supply units for control circuits are generally still loca-ted in a central control cabinet. One reason is the desire to not have a dangerous voltage of 230V or 400V in decentralized control cabinets or machinery parts. Another reason is reducing the number of power supply units. It is simpler to adapt to the mains power supply with one central, standardized 24V power supply, depending on the country.Calculating the voltage drops across wires.Wire cross-sections (size) are selected according to taste or taken from charts which recommend a cross section according to the ampere value. These chart values are general-ly optimized to the admissible cable heating, not to the voltage drop. Undersized cross sections are often the result. Calculating voltage drops on wires is no great feat but does involve mastering some of theuncommon values for material pro-perties, cross sections, line lengths and their odd properties.The following diagram will help explain: For example, if one powers a display panel located 30m away(=60m wire lengths) which requires a current of up to 4A one would expect a standard wire with a cross-section of 0.75mm2to be adequate. The dia-gram shows a voltage drop of 4.5V for a 1mm2line. Converted to0.75mm2this gives a voltage drop of 6.75V which means that just 17.25V reaches the display panel instead of 24V. And this at a current of just 4 amps! These kinds of voltage drops cannot be compensated for simply by turning up the voltage on the power supply unit.Not all DC/DC converters aresuitableIt is important that the DC/DC conver-ter has a broad specified input volta-ge range and that the input shut-down voltage is very low. This enablestransient voltage dips to be bridgedmore efficiently. The converter itselfmust not cause an unnecessary cur-rent load on the input cable whichwould lead to a further larger voltagedrop and which could damage thesystem. The DC/DC converter shouldinstead actively limit the peak inputcurrent which occurs for instancewhen charging capacitors.All these characteristics were takeninto account when developing thenew CD5 DC/DC converter family fromPULS. As well as a broad input volta-ge range, the devices also have anactive inrush current limiter plus asoft-start function.Thanks to the soft-start functionthere is no need to worry about highinput currents if choosing a 5A devicefor 1A load current. The input currentalso adjusts to the load current duringthe switch-on phase.Figure 1:Voltage drop acrossa 1mmlength of the wire at awire temperature of 30°C.Voltage drop across the wireLength of wireThe benefit is best explained with the following example: A controller at the end of a cable has a relatively large buffer capacitor and an average current consumption of 1.5A. Based on the low current, a correspondingly small cross-section wire is selected. To compensate the voltage loss on the cable, a 5A standard DC/DC converter is utilized to refresh the 24V. If we switch on the 24V power supply, the following takes place: The DC/DC con-verter will want to charge the capaci-tors in the control unit with its maxi-mum possible current (typically 6.5A).In addition, the internal input capaci-tors in the DC/DC converter also need recharging. This naturally leads to a high current at the input of the DC/DC converter which forces theDC/DC converter into an undervoltage shut-down based on the voltage drop on the line. The result is a sequence of start-up attempts or no start up at all. It would be possible to improve this situation by selecting a 2A device,however, there is not a great deal of choices with DC/DC converter so you have to choose from what is availa-ble.The new CD5 series has addressed these problems. After applying the input voltage, the default value for the maximum output current rises slowly to the required value. Loads connected to the output and capaci-tors are thus charged gently. Of coar-se the start process takes a little lon-ger but this method effectively pre-vents a high input current during the switch-on phase.CD5: The New DC/DC converter family from PULSAs well as refreshing voltage losses at the end of long wire runs, the new DC/DC converter series has many more possible uses:Generating a stabilized control vol-tage in battery powered devices Galvanic isolation of control current circuits to avoid ground (earth)loopsMobile applications e.g. in ships,forklifts, …Figure 2:CD5.241: Soft-start without noticeable current increase(24V, 5A constant current load)Figure 3:CD5.241: Soft-start function. No unnecessarily high input currents during the switch-on phase.Active InrushCurrent LimitationSoft-start function5.5A5.5AInput Current Input VoltageOutput VoltageOutput VoltageFig. 3Input CurrentAs well as the 24V to 24V “Refresher”described here, there are other DC/DC converters which convert 24V to 12V or 48V to 24V.All DC/DC converters have a galvani-cally isolated output and are specified with 120W over the temperature range of –25°C to +60°C (12V version: 96W). Higher currents can be achie-ved by paralleling DC/DC converters. The devices also have a 20% power reserve which can be drawn continu-ously below +45°C.The flat design allows installation in standard decentralized 120mm on-machine cabinets and the width of just 32 mm saves plenty of space on the DIN-rail. The integrated soft-start, the electronic inrush current limiter, the reverse polarity protection at the input and the extensive approval pak-kage ensure a simple and problem-free installation.The CD5.241-S1 offers a useful featu-re for battery powered applications and is equipped with two relay con-tacts. The “Input-Low contact“ can detect when a battery is running low while the “DC-OK contact“ is desi-gned for building redundant systems. In this device the input/output termi-nals are also equipped with vibration-proof quick-connect spring clamp ter-minals. All other devices have screw terminals for the connection of wires.Ultimately these DC/DC converters do more than just adjust voltages. They contribute to system reliability and increase endurance in the event of voltage fluctuations. Thanks to their compact design, retrofitting is almost always possible.。
THE PURE THEORY OF PUBLIC EXPENDITUREPaul A. Samuelson1. Assumptions. Except for Sax, Wicksell,Lindahl, Musgrave, and Bowen, economists have rather neglected the theory of optimal public expenditure, spending most of their energy on the theory of taxation. Therefore, I explicitly assume two categories of goods: ordinary private consumption goods ()n X X X ,,21 which can be parcelled out among different individuals ()s i ,,,,2,1 according to the relations ∑=si ij j X X and collective consumption goods ()m n n X X ++ ,1 which all enjoy incommon in the sense that each individual's consumption of such a good leads to no subtraction from any other individual's consumption of that good, so thati j n j n X X ++= simultaneously for each and every i th individual and each collectiveconsumptive good. I assume no mystical collective mind that enjoys collective consumption goods; instead I assume each individual has a consistent set of ordinal preferences with respect to his consumption of all goods (collective as well as private) which can be summarized by a regularly smooth and convex utility index()i m n i i i X X u u +=,,1 (any monotonic stretching of the utility index is of course also an admissible cardinal index of preference). I shall throughout follow the convention of writing the partial derivative of any function with respect to its j th argument by aj subscript, so that ij ii jX u u ∂∂= etc. Provided economic quantities can be divided into two groups, (1) outputs or goods which everyone always wants to maximize and(2) inputs or factors which everyone always wants to minimize, we are free to change the algebraic signs of the latter category and from then on to work only with "goods," knowing that the case of factor inputs is covered as well. Hence by this convention we are sure that 0 ij u always.To keep production assumptions at the minimum level of simplicity, I assume a regularly convex and smooth production-possibility schedule relating totals of alloutputs, private and collective; or ()0,,1=+m n X X F , with 0 j F 、and ratios n jF F determinate and subject to the generalized laws of diminishing returns.Feasibility considerations disregarded, there is a maximal (ordinal) utility frontier representing the Pareto-optimal points —of which there are an (s —I) fold infinity —with the property that from such a frontier point you can make one person better off only by making some other person worse off. If we wish to make normative judgments concerning the relative ethical desirability of different configurations involving some individuals being on a higher level of indifference and some on a lower, we must be presented with a set of ordinal interpersonal norms or with a social welfare function representing a consistent set of ethical preferences among all the possible states of the system. It is not a "scientific" task of the economist to "deduce" the form of this function; this can have as many forms as there are possible ethical views; for the present purpose, the only restriction placed on the social welfare function is that it shall always increase or decrease when any one person's ordinal preference increases or decreases, all others staying on their same indifference levels: mathematically, we narrow it to the class that any one of its indexes can be written ()s u u u U U ,,,21 = with 0 j U .2. Optimal Conditions. In terms of these norms, there is a "best state of the world" which is defined mathematically in simple regular cases by the marginal conditionsr j ir ijF F u u = ()n j r s i ,2,1,;,,2,1== or ()n j r s i ,2;1;,,2,1=== (1)r j n s i ir i j n F F u u +=+=∑1 ()n r m j ,2,1;,,2,1== or ()1;,,2,1==r s j (2)1=q kq i k i u U u U ()n k s q i ,2,1;,,2,1,== or ()1;,,2;1===k s i q (3) Equations (1) and (3) are essentially those given in the chapter on welfare economics in my Foundations of Economic Analysis. They constitute my version ofthe "new welfare economics." Alone (1) represents that subset of relations which defines the Pareto-optimal utility frontier and which by itself represents what I regard as the unnecessarily narrow version of what once was called the "new welfare economics."The new element added here is the set (2), which constitutes a pure theory of government expenditure on collective consumption goods. By themselves(1)and(2)define the (s —Ι) fold infinity of utility frontier points; only when a set of interpersonal normative conditions equivalent to (3) is supplied are we able to define an unambiguously "best" state.Since formulating the conditions (2)some years ago, I have learned from the published and unpublished writings of Richard Musgrave that their essential logic is contained in the "voluntary-exchange" theories of public finance of the Sax-Wicksell-Lindahl-Musgrave type, and I have also noted Howard Bowen's independent discovery of them in Bowen's writings of a decade ago. A graphical interpretation of these conditions in terms of vertical rather than horizontal addition of different individuals' marginal-rate-of-substitution schedules can be given; but what I must emphasize is that there is a different such schedule for each individual at each of the (s —Ι)fold infinity of different distributions of relative welfare along the utility frontier.3. Impossibility of decentralized spontaneous solution. So much for the involved optimizing equations that an omniscient calculating machine could theoretically solve if fed the postulated functions. No such machine now exists. But it is well known that an "analogue calculating machine" can be provided by competitive market pricing, (a) so long as the production functions satisfy the neoclassical assumptions of constant returns to scale and generalized diminishing returns and (b) so long as the individuals' indifference contours have regular convexity and, we may add, (c) so long as all goods are private. We can then insert between the right- and left-hand sides of (Ι) the equality with uniform market pricesr j p p and adjoin thebudget equations for each individuali i n n i L X p X p =++ 11 ()s i ,,2,1 = (1)1where L' is a lump-sum tax for each individual so selected in algebraic value as to lead to the "best" state of the world. Now note, if there were no collective consumption goods, then (Ι) and (r)‘can have their solution enormously simplified. Why? Because on the one hand perfect competition among productive enterprises would ensure that goods are produced at minimum costs and are sold at proper marginal costs, with all factors receiving their proper marginal productivities; and on the other hand, each individual, in seeking as a competitive buyer to get to the highest level of indifference subject to given prices and tax, would be led as if by an Invisible Hand to the grand solution of the social maximum position. Of course the institutional framework of competition would have to be maintained, and political decision making would still be necessary, but of a computationally minimum type, namely, algebraic taxes and transfers ()s L L L ,,,21 would have to be varied until society is swung to the ethical observer's optimum. The servant of the ethical observer would not have to make explicit decisions about each. person's detailed consumption and work; he need only decide about generalized purchasing power, knowing that each person can be counted on to allocate it optimally. In terms of communication theory and game terminology, each person is motivated to do the signalling of his tastes needed to define and reach the attainable-bliss point.Now all of the above remains valid even if collective consumption is not zero but is instead explicitly set at its optimum values as determined by (1),(2),and(3).However no decentralized pricing system can serve to determine optimally these Levels of collective consumption. Other kinds of "voting" or "signalling" would have to be tried. But, and this —is the point sensed by Wicksell but perhaps not fully appreciated by Lindahl, now it is in the selfish interest of each person to give false signals, to pretend to have less interest in a given collective consumption activity than he really has, etc. I must emphasize this: taxing according to a benefit theory of taxation can not at all solve the computational problem in the decentralized manner possible for the first category of "private" goods to which the ordinary marketpricing applies and which do not have the "external effects" basic to the very notion of collective consumption goods. Of course, utopian voting and signaling schemes can be imagined. ("Scandinavian consensus," Kant's "categorical imperative," and other devices meaningful only under conditions of "symmetry," etc.) The failure of market catallactics in no way denies the following truth: given sufficient knowledge the optimal decisions can always be found by scanning over all the attainable states of the world and selecting the one which according to the postulated ethical welfare function is best. The solution"exists"; the problem is how to "find" it.One could imagine every person in the community being indoctrinated to behave like a "parametric decentralized bureaucrat" who reveals his preferences by signalling in response to price parameters or Lagrangean multipliers, to questionnaires, or to other devices. But there is still this fundamental technical difference going to the heart of the whole problem of social economy: by departing from his indoctrinated rules, any one person can hope to snatch some selfish benefit in a way not possible under the self-policing competitive pricing of private goods; and the "external economies" or " jointness of demand" intrinsic to the very concept of collective goods and governmental activities makes it impossible for the grand ensemble of optimizing equations to have that special pattern of zeros which makes laissez-faire competition even theoretically possible as an analogue computer.4. Conclusion. To explore further the problem raised by public expenditure would take us into the mathematical domain of "sociology" or "welfare politics," which Arrow, Duncan Black, and others have just begun to investigate. Political economy can be regarded as one special sector of this general domain, and it may turn out to be pure luck that within the general domain there happened to be a subsector with the "simple" properties of traditional economics.汉语翻译公共支出纯理论1、假设:除了萨克斯、维克塞尔、林达尔、马斯格雷夫和鲍恩,经济学家们宁愿忽视最优公共支出理论,而将他们的大量精力用于税收理论。
.李雅普诺夫稳定性自动化专业英语词汇表公告记录成长的脚印,分享败绩、成功的智慧。
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) 日记总数: 47 品题数目: 42 访问次数: 15577 acceptance testing 验收测试 accumulated error积累误差 ac-dc-ac frequency converter 交-直-交变频器 ac(alternatingcurrent)electric drive交流电子传动 active attitude stabilization主动姿态稳定 actuator 驱动器,执行机构 adaline 线性适应元daptation layer适应层 adaptive telemeter system 适应遥测系统 adjoint operator 陪同算子 admissible error容许误差 aggregationmatrix结集矩阵ahp(analytic你好 erarchy process)条理分析法 amplifying element放大环节analog-digital conversion模数转换 ntenna pointing control接收天线指向控制anti-integral windup抗积分饱卷 aperiodic decomposition非周期分解 a posteriori estimate笱楣兰?approximate reasoning类似推理 a priori estimate 先验估计 articulated robot关节型机器人 assignment problem配置问题,分配问题 associative memory model遐想记忆模子 asymptotic stability渐进稳定性 attained pose drift现实位姿漂移 attitude acquisition姿态捕获aocs(attritude and orbit control system)姿态轨道控制系统 attitude angular velocity姿态角速度 attitude disturbance姿态扰动 attitude maneuver 姿态机动 augment ability可扩充性 augmented system增广系统 automatic manual station不用人力-手动操作器 autonomous system自治系统 backlash characteristics间隙特征 base coordinate system基座坐标系bayes classifier 贝叶斯分类器 bearing alignment 方位瞄准 bellows pressure gauge 波纹管压力表 benefit-cost analysis 收入成本分析 bilinear system 双线性系统 biocybernetics 生物控制论 biological feedback system 生物反馈系统black box testing approach 黑箱测试法 blind search 盲目搜索 block diagonalization 块对于角化 boltzman mac 你好 ne 玻耳兹曼机 bottom-up development 自下而上开辟 boundary value analysis 界限值分析 brainstorming method 头脑风暴法 breadth-first search 广度优先搜索 cae(computer aided engineering) 计较机匡助工程 cam(computer aided manufacturing) 计较机匡助创造 camflex valve 偏疼旋转阀 canonical state vari able 标准化状况变量capacitive displacementtransducer 电容式位移传感器 capsule pressure gauge 膜盒压力表 card 计较机匡助研究开辟 cartesian robot 直角坐标型机器人cascadecompensation 串联赔偿 catastrophe theory 突变论 chained aggregation 链式结集 characteristic locus 特征轨迹 chemical propulsion 化学推进classical information pattern 经典信息标准样式 clinical controlsystem 临床控制系统关上 d loop pole 闭环极点关上 d looptransfer function 闭环传递函数cluster analysis 聚类分析 coarse-finecontrol 粗- 精控制 cobweb model 蜘蛛网模子 coefficient matrix 凳?卣?cognitive science 认知科学 coherent system 枯燥关接洽统 combination decision 组合决定计划 combinatorial explosion 组合爆炸combined pressure and vacuum gauge 压力真空表 command pose 指令位姿companion matrix 相伴矩阵 compartmental model 房室模子 compatibility 相容性,兼容性 compensating network 赔偿采集 compensation 赔偿,矫正compliance 柔顺, 适应 composite control 组合控制 computable general equilibrium model 可计较普通均衡模子 conditionallyinstability 条件不稳定性connectionism 毗连机制 conservative system 守恒系统 constraint condition 约束条件 consumption function 消费函数 context-free grammar 上下文无关语法continuous discrete eventhybrid system simulation 连续离散事件混淆系统仿真continuous duty 连续事情制 control accuracy 控制精密度 control cabinet 控制柜controllability index 可控指数 controllable canonical form 可控标准型[control]plant 控制对于象,被控对于象 controlling instrument 控制仪表 control moment gyro 控制力矩捻捻转儿 control panel 控制屏,控制盘 control synchro 控制 [式]自整角机 control system synthesis 控制系统综合 control time horizon 控制时程 cooperativegame 互助对于策 coordinability condition 可协调条件coordinationstrategy 协调计谋 corner frequency 迁移转变频率 costate variable 蔡?淞?cost-effectiveness analysis 用度效益分析 coupling ofrbit and attitude 轨道以及姿态耦合 critical damping 临界阻尼 ritical stability 临界稳定性 cross-over frequency 穿越频率,交越频率 current source inverter 电流[源]型逆变器 cut-off frequency 截止频率 cyclic remote control 循环遥控 cylindrical robot 圆柱坐标型机器人 damped oscillation 阻尼振动 damping ratio 阻尼比 data acquisition 数值采集 data encryption 数值加密 data preprocessing 数值预处理 data processor 数值处理器 dc generator-motor set drive 直流发机电-电动机组传动 d controller 微分控制器 decentralizedstochastic control 分散 rand 控制 decision space 决定计划空间 decisionsupport system 决定计划支持系统 decomposition-aggregation approach 分解结集法 decoupling parameter 解耦参量 deductive-inductive hybrid modeling method 演绎与归纳混淆建模法 delayed telemetry 延时遥测derivation tree 导出树 derivative feedback 微分反馈 describingfunction 描写函数 desired value 希望值deterministic automaton 确定性不用人力机 deviation alarm 误差报警器 dfd 数值流图 diagnosticmodel 诊断模子 diagonally dominant matrix 对于角主导矩阵diaphragmpressure gauge 膜片压力表 difference equation model 差分方程模子differential dynamical system 微分动力学系统 differential game⒎侄圆differential pressure level meter 差压液位计 differentialpressure transmitter 差压变送器 differential transformer displacementtransducer 差动变压器式位移传感器 differentiation element 微分环节 digital filer 数码滤波器 digital signal processing 数码旌旗灯号处理 digitizer 数码化仪 dimension transducer 尺度传感器 direct coordination 直接协调 discrete event dynamic system 离散事件动态系统 discretesystem simulation language 离散系统仿真语言 discriminant function 判别函数 displacement vibration amplitude transducer 位移波幅传感器dissipative structure 耗扩散局 distributed parameter control system 漫衍参量控制系统 disturbance compensation 扰动赔偿 domain knowledge 范畴常识dominant pole 主导极点 dose-response model 剂量反映模子 dual modulation telemetering system 两重调制遥测系统 dualprinciple 对于偶原理 dual spin stabilization 双自旋稳定 duty ratio 负载比 dynamic braking 能耗制动 dynamic characteristics 动态特征 dynamic deviation 动态误差 dynamic error coefficient 动态误差系数 dynamic exactness 动它吻合性 dynamic input-outputmodel 动态投入产出模子 econometric model 计量经济模子 economiccybernetics 经济控制论 economic effectiveness 经济效益 economicvaluation 经济评价 economic index 经济指数 economic in dicator 经济指标 eddy current t 你好 ckness meter 电涡流厚度计 effectivenesstheory 效益意见 elasticity of demand 需求弹性 electric actuator 电动执行机构 electric conductancelevelmeter 电导液位计 electricdrive control gear 电动传动控制设备 electric hydraulic converter 电-液转换器 electric pneumatic converter 电-气转换器electrohydraulicservo vale 电液伺服阀 electromagnetic flow transducer 电磁流量传感器 electronic batc 你好 ng scale 电子配料秤 electronic belt conveyorscale 电子皮带秤 electronic hopper scale 电子料斗秤 emergencystop 异样住手empirical distribution 经验漫衍 endogenous variable 内发生变故量equilibrium growth 均衡增长 equilibrium point 平衡点 equivalence partitioning 等价类区分清晰 error-correction parsing 纠错剖析 estimation theory 估计意见 evaluation technique 评价技术 event chain 事件链evolutionary system 高级演化系统 exogenous variable 外发生变故量 expected characteristics 希望特征 failure diagnosis 妨碍诊断 fast mode 快变模态 feasibility study 可行性研究 feasiblecoordination 可行协调 feasible region 可行域 feature detection 特征检测 feature extraction 特征抽取 feedback compensation 反馈赔偿 feedforward path 前馈通路 field bus 现场总线 finite automaton 有限不用人力机 fip(factory information protocol) 工场信息以及谈 first order predicate logic 一阶谓词逻辑 fixed sequence manipulator 固定挨次机械手 fixed set point control 定值控制 fms(flexiblemanufacturing system) 柔性创造系统 flowsensor/transducer 流量传感器 flow transmitter 流量变送器 forced oscillation 强迫振动 formal language theory 情势语言意见 formal neuron 情势神经元forward path 正向通路 forward reasoning 正向推理 fractal 分形体,分维体frequency converter 变频器 frequency domain modelreduction method 频域模子降阶法 frequency response 频域相应 full order observer 全阶测候器 functional decomposition 功效分解 fes(functional electricalstimulation)功效电刺激 functionalsimularity 功效相仿 fuzzy logic 含糊逻辑 game tree 对于策树 general equilibrium theory 普通均衡意见 generalized least squaresestimation 意义广泛最小二乘估计 generation function 天生函数geomagnetictorque 地磁性矩 geometric similarity 几何相仿 gimbaled wheel 蚣苈global asymptotic stability 全局渐进稳定性 global optimum 全局最优 globe valve 球形阀 goal coordination method 目标协调法 grammatical inference 文法判断 grap 你好 c search 图搜索 gravitygradient torque 重力梯度力矩 group technology 成组技术 guidancesystem 制导系统 gyro drift rate 捻捻转儿漂移率 hall displacementtransducer 霍尔式位移传感器 hardware-in-the-loop simulation 半实物仿真 harmonious deviation 以及谐误差 harmonious strategy 以及谐计谋 heuristic inference 开导式推理你好 dden oscillation 隐蔽振动你好 erarc 你好 calchart 条理布局图你好 erarc 你好 cal planning 递阶规划你好 erarc你好 calontrol 递阶控制 homomorp 你好 c model 同态系统 horizontal decomposition 横向分解 hormonal control 内排泄控制 hydraulic step motor 液压步进马达 hypercycle theory 超循环意见 i controller 积分控制器 identifiability 可辨识性 idss(intelligent decision support system)智能决定计划支持系统 image recognition 图象辨认 impulse function 冲击函数,电子脉冲函数 incompatibility principle 不相容原理 incrementalmotion control 增量运动控制 index of merit 品质因数 inductiveforce transducer 电感式位移传感器 inductive modeling method 归纳建模法 industrial automation 工业不用人力化 inertial attitude sensor 惯性姿态敏锐器 inertial coordinate system 惯性坐标系 inertialwh eel 惯性轮 inference engine 推理机 infinite dimensional system 无限维系统information acquisition 信息采集 infrared gasanalyzer 红外线气体分析器 inherent nonlinearity 本来就有非线性 inherent regulation 本来就有调节 initial deviation 初始误差 injection attitude 入轨姿式input-output model 投入产出模子 instability 不稳定性 instructionlevel language 指令级语言 integral of absolute value of errorcriterion 绝对于误差积分准则integral of squared error criterion 平方误差积分准则 integral performance criterion 积分性能准则 integration instrument 积算摄谱仪 intelligent terminal 智能终端 interactedsystem 互接洽统,关接洽统 interactive prediction approach 互联预估法,关联预估法 intermittent duty 断续事情制ism(interpretivestructure modeling) 诠释布局建模法 invariant embedding principle 不变镶嵌原理 inventory theory 库伦论 inverse nyquist diagram 逆奈奎斯特图 investment decision 投资决定计划 isomorp 你好 c model 同构模子iterative coordination 迭代协调 jet propulsion 喷气推进 job-lot control 分批控制kalman-bucy filer 卡尔曼-布西滤波器 knowledgeaccomodation 常识适应knowledge acquisition 常识获取 knowledgessimilation 常识夹杂kbms(knowledge base management system) 常识库管理系统 knowledge representation 常识抒发 lad der diagram 菪瓮?lag-lead compensation 滞后超前赔偿 lagrange duality 拉格朗日对于偶性 laplace transform 拉普拉斯变换 large scale system 大系统 lateral in 你好 bition network 侧抑制采集 least cost input 最小成本投入 least squares criterion 最小二乘准则 level switch 物位开关 libration damping 天平动阻尼 limit cycle 极限环 linearizationtechnique 线性化要领 linear motion electric drive 直线运动电气传动 linear motion valve 直行程阀 linear programming 线性规划 lqr(linear quadratic regulator problem) 线性二次调节器问题 oad cell 称重传感器 local asymptotic stability 局部渐近稳定性 local optimum 局部最优 log magnitude-phase diagram 对于数幅相图long term memory 长期记忆 lumped parameter model 集总参量模子 lyapunov theorem of asymptotic stability 李雅普诺夫渐近稳定性定理 macro-economic system 宏观经济系统 magnetic dumping 磁卸载 magnetoelastic weig 你好ng cell 磁致弹性称重传感器 magnitude- frequencycharacteristic 幅频特征magnitude margin 幅值裕度 magnitudecale factor 幅值缩尺 man-mac 你好ne coordination 人机协调 manualstation 手动操作器 map(manufacturing automation protocol) 创造不用人力化以及谈 marginal effectiveness 边岸效益mason's gain formula 梅森增益公式 matc 你好 ng criterion 匹配准则 maximum likelihood estimation 最大似然估计 maximum ove rshoot 最大超调量maximum principle 极大值原理 mean-square error criterion 均方误差准则mechanismmodel 机理模子 meta-knowledge 元常识 metallurgical automation 冶金不用人力化 minimal realization 最小使成为事实 minimum phase system 最小相位系统 minimum variance estimation 最小方差估计 minor loop 副回路missile-target relative movement simulator 弹体- 目标相对于运动仿真器 modal aggregation 模态结集 modal transformation 模态变换 mb(model base)模子库model confidence 模子置信度 model fidelity 模子传神度 model reference adaptive control system 模子参考适应控制系统 model verification 模子证验mec(mostconomic control)最经济控制 motion space 可动空间 mtbf(mean time between failures) 均等妨碍距离时间 mttf(mean timeto failures)均等无妨碍时间 multi-attributive utility function 嗍粜孕в 煤??multicriteria 多重判据 multilevel 你好 erarc 你好 cal structure 多级递阶布局 multiloop control 多回路控制 multi- objective decision 多目标决定计划 multistate logic 多态逻辑multistratum 你好 erarc 你好 calcontrol 多段递阶控制 multivariable control system 多变量控制系统 myoelectric control 肌电控制 nash optimality 纳什最优性 naturallanguage generation 自然语言天生 nearest- neighbor 这段邻necessitymeasure 肯定是性侧度 negative feedback 负反馈 neural assembly 神经集合 neural network computer 神经采集计较机 nichols chart 尼科尔斯图noetic science 思维科学 noncoherent system 非枯燥关接洽统 noncooperative game 非互助博弈 nonequilibrium state 非平衡态 nonlinear element 非线性环节nonmonotonic logic 非枯燥逻辑 nonparametric training 非参量训练nonreversible electric drive 不成逆电气传动 nonsingular perturbation 非奇妙摄动 non-stationaryrandom process 非平稳 rand 历程 nuclear radiation levelmeter 核辐射物位计 nutation sensor 章动敏锐器 nyquist stability criterion 奈奎斯特稳定判据 objective function 目标函数 observability index 可测候指数observable canonical form 可测候标准型 on-line assistance 在线帮忙 on- off control 通断控制 open loop pole 开环极点 operational research model 运筹学模子 optic fiber tachometer 光纤式转速表 opt imal trajectory 最优轨迹optimization technique 最优化技术 orbital rendezvous 轨道交会 orbit gyrocompass 轨道捻捻转儿罗经 orbit perturbation 轨道摄动 order parameter 序参量 orientationcontrol 定向控制 oscillating period 振动周期 output predictionmethod 输出预估法 oval wheel flowmeter 椭圆齿轮流量计overalldesign 总体设计 overlapping decomposition 交叠分解 pade approximation 帕德类似 pareto optimality 帕雷托最优性 passive attitude stabilization 不主动姿态稳定 path repeatability 路径可重复性 pattern primitive 标准样式基元 pr(pattern recognition)标准样式辨认 p control 比例控制器 peak time 峰值时间penalty function method 罚函数法 periodic duty 周期事情制 perturbation theory 摄动意见 pessimisticvalue 悲观值 phase locus 相轨迹 phase trajectory 相轨迹hase lead 相位超前 photoelectric tachometric transducer 光电式转速传感器phrase-structure grammar 短句布局文法 physical symbol system 物理符号系统 piezoelectric force transducer 压电式力传感器 playbackrobot 示教再现式机器人 plc(programmable logic controller)可编步伐逻辑控制器 plug braking 反接制动 plug valve 旋塞阀 pneumaticactuator 气动执行机构 point-to-point control 点位控制 polar robot 极坐标型机器人 pole assignment 极点配置 pole-zero cancellation 零极点相消 polynom ial input 多项式输入 portfolio theory 投资配搭意见 pose overshoot 位姿过调量 position measuring instrument 位置丈量仪posentiometric displacement transducer 电位器式位移传感器 positive feedback 正反馈 power system automation 电力系统不用人力化 predicate logic 谓词逻辑pressure gauge with electric contact 电接点压力表 pressure transmitter 压力变送器 price coordination 价格协调 primal coordination 主协调 primary frequency zone 主频区 pca(principal component analysis)主成份分析法principlef turnpike 通途原理 process- oriented simulation 面向历程的仿真production budget 生产预算 production rule 孕育发生式法则 profitforecast 利润预测 pert(program evaluation and review technique) 计划评审技术program set station 步伐设定操作器 proportionalcontrol 比例控制 proportional plus derivative controller 比例微分控制器 protocol engineering 以及谈工程pseudo random sequence 伪 rand 序列 pseudo-rate-increment control 伪速度增量控制 pulse duration 电子脉冲持续时间 pulse frequency modulation control system 电子脉冲调频控制系统 pulse width modulation controlsystem 电子脉冲调宽控制系统 pwm inverter 脉宽调制逆变器 pushdown automaton 下推不用人力机 qc(quality control)质量管理 quadratic performance index 二次型性能指标 quali tative physical model 定性物理模子quantized noise 量化噪声 quasilinear characteristics 准线性特征 queuing theory 列队论 radio frequency sensor 射频敏锐器 ramp function 斜坡函数 random disturbance rand 扰动 random process rand 历程 rateintegrating gyro 速度积分捻捻转儿 ratio station 比率操作器 reactionwheel control 反效用轮控制realizability 可以使成为事实性,能使成为事实性 eal time telemetry 实时遥测receptive field 感受野 rectangularrobot 直角坐标型机器人 recursive estimation 递推估计 reducedorder observer 降阶测候器 redundant information 冗余信息 reentrycontrol 再入控制 regenerative braking 回馈制动,再生制动 regionalplanning model 地区范围规划模子 regulating device 调节装载 relationalalgebra 关系代数 relay characteristic 继电器特征 remote manipulator 遥控操作器 remote set point adjuster 远程设定点调整器 rendezvo 目前世界上最强大的国家 nd docking 交会以及对于接 resistance thermometer sensor 热电阻 esolution principle 归结原理 resource allocation 资源分配responsecurve 相应曲线 return difference matrix 回差矩阵 return ratiomatrix 回比矩阵 reversible electric drive 可逆电气传动 revoluterobot 关节型机器人revolution speed transducer 转速传感器 rewritingrule 重写法则 rigid spacecraft dynamics 刚性航天动力学 riskdecision 危害分析 robotics 机器人学 robot programming language 机器人编程语言 robust control 鲁棒控制 roll gap measuring instrument 辊缝丈量仪 root locus 根轨迹 roots flowmeter 腰轮流量计otameter 浮子流量计,转子流量计 rotary eccentric plug valve 偏疼旋转阀 rotary motionvalve 角行程阀 rotating transformer 旋转变压器 routh approximation method 劳思类似判据 routing problem 肪段侍?sampled-data control system 采样控制系统 sampling controlsystem 采样控制系统 saturation characteristics 饱以及特征 scalarlyapunov function 标量李雅普诺夫函数 scara(selective complianceassembly robot arm) 最简单的面关节型机器人 scenario analysis method 情景分析法 scene analysis 物景分析 self- operated controller 自力式控制器 self-organizing system 自组织系统 self-reproducing system 自繁殖系统self-tuning control 自校正控制 semantic network 语义采集 semi-physical simulation 半实物仿真 sensing element 敏锐元件 sensitivity analysis 活络度分析sensory control 觉得控制 sequentialdecomposition 挨次分解 sequential least squares estimation 序贯最小二乘估计 servo control 伺服控制,随动控制servomotor 伺服马达 settling time 过渡时间 short term planning 短期计划shorttime horizon coordination 短时程协调 signal detection and estimation 旌旗灯号检测以及估计 signal reconstruction 旌旗灯号重构 simulated interrupt 仿真中断 simulation block diagram 仿真框图 simulation experiment 仿真实验simulation velocity 仿真速度 single axle table 单轴转台 single degree of freedom gyro 单自由度捻捻转儿 single levelprocess 单级历程 single value nonlinearity 单值非线性 singularattractor 奇妙吸引子 singular perturbation 奇妙摄动 slave dsystem 受役系统 slower-than-real-time simulation 欠实时仿真slow subsystem 慢变子系统 socio-cybernetics 社会形态控制论 socioeconomic system 社会形态经济系统软体 psychology 软件生理学 solar array pointing control 日头帆板指向控制 solenoid valve 电磁阀 speed control system 魉傧低spin axis 自旋轴 stability criterion 稳定性判据 stabilitylimit 稳定极限 stabilization 镇定,稳定 stackelberg decision theory 施塔克尔贝格决定计划意见 state equation model 状况方程模子 state space description 状况空间描写 static characteristics curve 静态特征曲线 station accuracy 定点精密度stationary random process 平稳 rand 历程 statistical analysis 统计分析 statistic pattern recognition 统计标准样式辨认 steady state deviation 稳态误差steadystate error coefficient 稳态误差系数 step-by-step control 步进控制step function 阶跃函数 stepwise refinement 慢慢精化 stochasticfinite automaton rand 有限不用人力机 strain gauge load cell 应变式称重传感器 strategic function 计谋函数 strongly coupled system 狂詈舷低?subjective probability 主观频率 supervised training 喽窖??supervisory computer control system 计较机监控系统 sustainedoscillation 矜持振动 swirlmeter 旋进流量计 switc 你好 ng point 切换点 symbolic processing 符号处理 synaptic plasticity 突触可塑性syntactic analysis 句法分析 system assessment 系统评价 systemhomomorp 你好sm 系统同态 system isomorp 你好 sm 系统同构 system engineering 系统工程target flow transmitter 靶式流量变送器 task cycle 功课周期 teac 你好 ng programming 示教编程 telemetering system ofrequency division type 频分遥测系统 teleological system 目的系统 temperature transducer 温度传感器template base 模版库 theoremproving 定理证实 therapy model 治疗模子 t 你好ckness meter 厚度计 three-axis attitude stabilization 三轴姿态稳定 three state controller 三位控制器 thrust vector control system 推力矢量控制系统 time constant 时间常数 time-invariant system 定常系统,非时变系统 time schedule controller 时序控制器 time-sharing control 分时控制 time-varying parameter 时变参量 top-down testing 自上而下测试topological structure 拓扑布局 tqc(total quality control)全面质量管理 tracking error 跟踪误差 trade-off analysis 权衡分析 transfer function matrix 传递函数矩阵transformation grammar 转换文法 transient deviation 瞬态误差 transient process 过渡历程 transition diagram 转移图 transmissible pressure gauge 电远传压力表 trend analysis 趋向分析 triple modulation telemetering system 三重调制遥测系统 turbine flowmeter 涡轮流量计 turing mac 你好 ne 剂榛?two-time scale system 双时标系统 ultrasonic levelmeter??镂患?unadjustable speed electric drive 非调速电气传动 unbiasedestimation 无偏估计 uniformly asymptotic stability 一致渐近稳定性 uninterrupted duty 不间断事情制,长期事情制 unit circle 单位圆 unit testing 单位测试 unsupervised learing 非监视进修upperlevel problem 较高等级问题 urban planning 城市规划 utility function 效用函数 value engineering 价值工程 variable gain 可变增益,可变放大系数 variable structure control system 变布局控制 vectorlyapunov function 向量李雅普诺夫函数 velocity error coefficient 速度误差系数 velocity transducer 速度传感器vertical decomposition 纵向分解 vibrating wire force transducer 振弦式力传感器 viscousdamping 粘性阻尼 voltage source inverter 电压源型逆变器vortexprecession flowmeter 旋进流量计 vortex shedding flowmeter 涡街流量计 wb(way base) 要领库 weig 你好 ng cell 称重传感器 weightingfactor 权因数weighting method 加权法 w 你好 ttaker-shannon samplingtheorem 惠特克-喷鼻农采样定理 wiener filtering 维纳滤波 work stationfor computer aided design 计较机匡助设计事情站 w-plane w 最简单的面 zero-based budget 零基预算 zero-input response 零输入相应 zero-stateresponse 零状况相应 zero sum game model 零以及对于策模子2022 年 07 月 31 日历史上的今天:ipad2 怎么贴膜好吧,我还是入了 iPad2 2022-06-26 斗破苍穹快眼看书 2斗破苍穹 22 下载 20 11-06-26特殊声明:1:资料来源于互联网,版权归属原作者2:资料内容属于网络意见,与本账号立场无关3 :如有侵权,请告知,即将删除。
redactable blockchain in decentralized setting Redactable Blockchain in Decentralized SettingIntroductionBlockchain technology has gained significant attention in recent years due to its potential to revolutionize various industries. One of the main advantages of blockchain technology is its immutability, which ensures that once data is recorded on the blockchain, it cannot be altered or deleted. However, this immutability also poses a challenge in situations where certain data needs to be removed from the blockchain. This is where redactable blockchains come into play. In this article, we will explore redactable blockchains in a decentralized setting.What is a Redactable Blockchain?A redactable blockchain is a type of blockchain that allows for the removal of certain data from the blockchain while maintaining its immutability and integrity. This is achieved by introducing an additional layer of encryption that allows certain data to be hidden or removed while still preserving the overall structure and integrity of the blockchain.Why use a Redactable Blockchain?Redactable blockchains have several advantages over traditional immutable blockchains. Firstly, they provide greater flexibility and control over data stored on the blockchain. This is particularly important in situations where sensitive or confidential information needs to be removed from the blockchain for legal or regulatory reasons. Secondly, redactable blockchains can help to reduce storage requirements by allowing unnecessary data to be removed from the blockchain.How does a Redactable Blockchain work?A redactable blockchain works by introducing an additional layer of encryption that allows certain data to be hidden or removed from the blockchain. This additional layer can take several forms, including cryptographic techniques such as zero-knowledge proofs or homomorphic encryption.Zero-knowledge proofs allow for the verification of certain properties without revealing any underlying information. This means that certain data can be hidden while still maintaining its integrity and ensuring that all parties involved can verify its authenticity.Homomorphic encryption allows for computations to be performed on encrypted data without having to decrypt it first. This means that certain parts of the blockchain can be removed without having to decrypt and re-encrypt the entire blockchain.Challenges of Redactable BlockchainsWhile redactable blockchains offer several advantages over traditional immutable blockchains, they also pose several challenges. Firstly, the additional layer of encryption required to enable redaction can increase the computational requirements and reduce the overall performance of the blockchain. Secondly, there is a risk that malicious actors could exploit the redaction mechanism to remove important data from the blockchain.ConclusionRedactable blockchains offer a promising solution to the challenge posed by immutable blockchains in situations where certain data needs to be removed from the blockchain. While there are still several challenges that need to be addressed, including performance and security concerns, redactable blockchains have the potential to revolutionize variousindustries by providing greater flexibility and control over data stored on the blockchain.。
区块链的自律倡议书英文We, the members of the Blockchain community, hereby declare our commitment to fostering an environment of self-regulation and accountability within the Blockchain ecosystem. Guided by the principles of transparency, decentralization, and trust, we aim to empower individuals, organizations, and governments to participate in a secure and ethical manner.1. Empowering Individuals:We believe in placing control and ownership of personal data back into the hands of individuals. Through Blockchain technology, we advocate for the development of decentralized identity solutions that ensure privacy, security, and data sovereignty. Individuals should have the right to control and manage their personal information with the ability to grant or revoke access as they see fit.2. Promoting Ethical Practices:We recognize the importance of establishing ethical standards within the Blockchain industry. We encourage all participants to adhere to best practices and guidelines, ensuring fair competition, market integrity, and protection of consumer rights. Any fraudulent or malicious activities will not be tolerated, and we encourage the reporting of such incidents to maintain a trustworthy ecosystem. 3. Ensuring Security and Privacy:We understand the criticality of security and privacy in Blockchain systems. We support the development of robust security protocols and cryptographic measures to protect the integrity and confidentiality of data stored on the Blockchain. Participants must prioritize the implementation of security measures in theirapplications and systems to protect against vulnerabilities and minimize the risk of breaches.4. Collaborating with Governments and Regulators:We believe in working closely with governments and regulatory bodies to strike a balance between innovation and compliance. We advocate for proactive engagement to establish clear frameworks and regulations that foster innovation while addressing concerns such as money laundering, fraud, and consumer protection. Collaboration with authorities will help build trust, encourage adoption, and unlock the full potential of Blockchain technology. 5. Educating and Empowering Users:We emphasize the importance of educating users about the benefits, risks, and responsible use of Blockchain technology. It is crucial to provide accessible resources, guidelines, and educational initiatives to empower users with the necessary knowledge to navigate and leverage Blockchain systems effectively.6. Facilitating Interoperability and Standards:We acknowledge the need for interoperability and standardization in the Blockchain ecosystem. We support efforts to develop open standards, protocols, and frameworks that enable seamless communication and compatibility between different Blockchain networks. This will encourage collaboration, innovation, and the widespread adoption of Blockchain technology.In conclusion, we commit to upholding these guiding principles and working together to create a self-regulated and accountable Blockchain ecosystem. By embracing transparency, decentralizedgovernance, and responsible practices, we can build a more inclusive, secure, and transformative future for all.。
高一英语询问政治体制单选题50题1. In the United States, citizens can vote to elect their representatives. Which of the following best describes this democratic practice?A. Direct democracyB. Representative democracyC. Absolute monarchyD. Oligarchy答案:B。
解析:美国公民通过投票选举代表这种制度是代议制民主。
A选项直接民主是公民直接参与决策等,美国不是这种情况;C选项绝对君主制是君主拥有绝对权力,与美国的民主制度完全不同;D选项寡头政治是少数人掌握政权,也不符合美国的政治体制。
2. In ancient Athens, citizens could directly participate in making laws. This is an example of _.A. Indirect democracyB. Representative democracyC. Direct democracyD. Dictatorship答案:C。
解析:古代雅典公民能直接参与立法,这是直接民主的典型例子。
A选项间接民主与直接参与相反;B选项代议制民主是通过选举代表来治理,而不是公民直接参与;D选项独裁与雅典的民主制度背道而驰。
3. In a certain country, power is mainly in the hands of a small groupof wealthy people. What kind of political system might this be?A. PlutocracyB. TheocracyC. SocialismD. Federalism答案:A。
Admissible Decentralized Control of Petri NetsMarian V.Iordache and Panos J.Antsaklis1,2AbstractSupervision based on place invariants(SBPI)is an effi-cient technique for the supervisory control of Petri nets.In this paper we propose extensions of the SBPI to adecentralized control setting.In our setting,a decen-tralized supervisor consists of local supervisors,eachcontrolling and observing a part of the Petri net.Weconsider both versions of decentralized control,withcommunication,and with no communication.In thecase of communication,the supervisors may exchangeinformation consisting of local observed events.Wepropose efficient algorithms for the design of decentral-ized supervisors,based on the extension of the SBPIconcept of admissibility that we define.1IntroductionPetri nets are compact models of concurrent systems,as they do not represent explicitly the state space ofthe system.Petri net models arise naturally in a vari-ety of applications,such as manufacturing systems andcommunication networks.Petri net methods relyingon the structure of the net rather than the state spaceare of special interest,as the size of the state space,whenfinite,can be exponentially related to the sizeof the net.Among such methods,supervision based onplace invariants(SBPI)[1,5,12]offers an efficient tech-nique for the design of supervisors enforcing on Petrinets a particular class of state predicates,called gen-eralized mutual exclusion constraints.Note that thegeneralized mutual exclusion constraints can representany state predicate of a safe Petri net[1,12].Further-more,without loss of any of its benefits,the SBPI hasbeen extended in[2]to handle any constraints that canbe enforced by control(monitor)places.While SBPIhas been considered so far in a centralized setting,thispaper proposes extensions of SBPI to a decentralizedsetting.Admissibility is a key concept in the SBPI of Petri netswith uncontrollable and unobservable transitions.InSBPI,a set of constraints is admissible if it can be di-rectly enforced.On the other hand,inadmissible con-3We define admissibility with respect to the SBPI.In prin-ciple,it is possible to have an inadmissible constraint that is“admissible”with respect to another supervision technique.0-7803-7896-2/03/$17.00 ©2003 IEEE332Proceedings of the American Control ConferenceDenver, Colorado June 4-6, 20032PreliminariesA Petri net structure is denoted by N=(P,T,F,W), where P is the set of places,T the set of transitions,F the set of transition arcs,and W the weight function. The incidence matrix of N is denoted by D(places correspond to rows and transitions to columns).The specification of the SBPI[1,5,12]consists of the state constraintsLµ≤b(1) where L∈Z n c×|P|,b∈Z n c,andµis the marking of N.Note that N represents the plant.The SBPI provides a supervisor in the form of a Petri net N s= (P s,T,F s,W s)withD s=−LD(2)µ0,s=b−Lµ0(3) where D s is the incidence matrix of the supervisor,µ0,s the initial marking of the supervisor,andµ0is the ini-tial marking of N.The places of the supervisor are called control places.The supervised system,that is the closed-loop system,is a Petri net of incidencematrix:D c=D−LD(4)An example is shown in Figure4(a),in which the su-pervisor enforcingµ1+µ2≤1andµ3+µ4≤1consists of the control places C1and C2.Note that(3)implies that when the plant and the su-pervisor are in closed-loop,the initial marking of the plant satisfies(1).Letµc be the marking of the closed-loop,and letµc|N denoteµc restricted to the plant N. Let t∈T be a transition.t is closed-loop enabled if µc enables t.t is plant-enabled,ifµc|N enables t in N.The supervisor detects t if t is closed-loop enabled at some reachable markingµc andfiring t changes the marking of some control place.The supervisor con-trols t if there is a reachable markingµc such that t is plant-enabled but not closed-loop enabled.Givenµc, the supervisor disables t if there is a control place C such that(C,t)∈F s andµc(C)<W s(C,t).In Petri nets with uncontrollable and unobservable transitions,admissibility issues arise.Indeed,a super-visor generated as shown above may include control places preventing plant-enabled uncontrollable transi-tions tofire,and may contain control places with mark-ing varied byfirings of closed-loop enabled unobserv-able transitions.Such a supervisor is clearly not im-plementable.We say that a supervisor is admissible, if it only controls controllable transitions,and it only detects observable transitions.The constraints Lµ≤b are admissible if the supervisor defined by(2–3)is admissible.When inadmissible,the constraints Lµ≤b are transformed(if possible)to an admissible formcontrollable and observableuncontrollable and observableuncontrollable and unobservable Figure1:Graphical representation of the transition types.L aµ≤b a such that L aµ≤b a⇒Lµ≤b[5].Then, the supervisor enforcing L aµ≤b a is admissible,and enforces Lµ≤b as well.Our discussion on admissibil-ity is carried out in more detail in section4.We will denote N with sets of uncontrollable and unobservable transitions T uc and T uo by(N,T uc,T uo).Finally,Figure1shows the graphical representation of the uncontrollable and/or unobservable transitions that is used in this paper.3The ModelWe assume that the system is given as a Petri net structure N=(P,T,F,W).A decentralized super-visor consists of a set of local supervisors S1,S2,...S n, each acting upon individual parts of the system,called subsystems,where the simultaneous operation of the local supervisors achieves a global specification.A lo-cal supervisor S i observes the system through the set of locally observable transitions T o,i,and controls it through the set of locally controllable transitions T c,i.So,from the viewpoint of S i,the sets of uncontrol-lable and unobservable transitions are T uc,i=T\T c,i and T uo,i=T\T o,i.This is the design problem: Given a global specification and the sets of uncontrol-lable and unobservable transitions T uc,1,T uc,2,...T uc,n and T uo,1,T uo,2,...T uo,n,find a set of local supervisors S1,S2,...S n whose simultaneous operation guarantees that the global specification is satisfied,where each S i can control T\T uc,i and can observe T\T uo,i.A sys-tem N with subsystems of uncontrollable and unob-servable transitions T uc,i and T uo,i will be denoted by (N,T uc,1,...T uc,n,T uo,1,...T uo,n).As an example,we consider the manufacturing system of[4],shown in Figure2.In this example,two robots access a common parts bin.The system can be modeled by the Petri net of Figure3(a),whereµ2=1(µ4=1) when the left(right)robot is in the assembly area,and µ1=1(µ3=1)when the left(right)robot is in the parts bin.The set of controllable transitions of the left(right)subsystem may be taken as T c,1={t1,t2} (T c,2={t3,t4}).Assume that the subsystem of each robot knows when the other robot enters or leaves the parts bin.Then each subsystem contains the control-lable transitions of the other subsystem as observable transitions;a possible graphical representation of the subsystems is shown in Figure3(b)and(c).333Proceedings of the American Control ConferenceDenver, Colorado June 4-6, 2003(b) − Left subsystem(c) − Right subsystem(a) − Global system1t t 24p Figure 3:A Petri net model of the robotic manufacturingsystem.Network ConnectionFigure 2:Robotic manufacturing system.(b)(a)2Figure 4:Examples of c-admissible supervision.4AdmissibilityTo distinguish between admissibility in the centralized case and admissibility in the decentralized case (to be defined later),we denote by c-admissibility the ad-missibility property in the centralized case.There-fore,c-admissibility is taken with respect to a Petri net (N ,µ0)of uncontrollable transitions T uc and unobserv-able transitions T uo .The significance of c-admissibility is as follows.A c-admissible set of constraints (1)can be implemented with the simple construction of (2–3),as in the fully controllable and observable case.It is essential for the understanding of this paper to see that supervisors defined by (2–3)may be admissible even when they have control places connected to un-observable transitions,and control places connected touncontrollable transitions by place-to-transition arcs.We first illustrate this fact by two examples,and then,in the next paragraph,we show how such admissible supervisors can be (physically)implemented.In the first example,the supervisor enforcing µ1+µ2≤1and µ3+µ4≤1in Figure 4(a)consists of the control places C 1and C 2.By definition,the supervisor is ad-missible,though connected to the uncontrollable and unobservable transitions t 5and t 6.The reason is that,on one side,whenever the supervisor disables t 5(or t 6),t 5(t 6)is anyway disabled by the plant and,on the other side,t 5and t 6are dead (they require µ1+µ2≥2and µ3+µ4≥2,respectively,in order to be plant-enabled)and so their observation is not necessary.In the second example,the supervisor enforcing µ1+µ2+µ3≤3and µ3≤2in Figure 4(b)consists of the control places C 1and C 2.Again,the supervisor is admissible,in spite of the fact that it may disable the uncontrollable transi-tion t 5.Indeed,the supervisor never disables t 5when t 5is plant-enabled,and so its disablement decision does not need to be physically implemented.In fact,the arc (C,t 5)can be seen as corresponding to an observation action only,as the supervisor decrements the marking of C 2whenever t 5fires.The previous examples motivate the following interpre-tation of the arcs between the control places of an ad-missible supervisor and the uncontrollable and/or un-observable transitions.Let C be a control place and t a transition.If t is uncontrollable,an arc (C,t )mod-els observation only,due to the fact that an admissi-ble supervisor never disables a plant-enabled transition;physically,this means that the supervisor has a sensor to monitor t but no actuator to control t .If t is unob-servable and controllable,an arc (C,t )models control only,as the fact that an admissible supervisor does not observe closed-loop enabled unobservable transitions in-dicates that t is dead in the closed-loop 4;physically,the supervisor has an actuator to control t but no sensor to monitor t .If t is unobservable and uncontrollable,arcs between C and t can be ignored,as the fact that an ad-missible supervisor would never disable or observe t if plant-enabled,implies that in the closed-loop t is never plant-enabled.In the decentralized case,we are interested in defin-ing admissibility with respect to a Petri net (N ,µ0),and the sets of uncontrollable and unobservable tran-sitions of the subsystems:T uc,1...T uc,n and T uo,1...T uo,n .Admissibility in the decentralized case is called d-admissibility .As in the case of c-admissibility,we would like d-admissibility to guarantee that we are able to construct the (decentralized)supervisor without em-ploying constraint transformations.The following def-inition achieves this.Definition 4.1A constraint is d-admissible with re-spect to (N ,µ0,T uc,1...T uc,n ,T uo,1...T uo,n ),if there is a collection of subsystems C ⊆{1,2,...n },C =∅,such that the constraint is c-admissible with respect to (N ,µ0,T uc ,T uo ),where T uc =i ∈C T uc,i and T uo =i ∈CT uo,i .A set of constraints is d-admissible if each of its constraints is d-admissible.To illustrate the definition,assume that we have a con-straint that is c-admissible only with respect to the first subsystem.Then,it is d-admissible,as we can select C =1.An interesting consequence is that when each subsystem has full observability of the net and every transition is controllable with respect to some subsys-tem,any constraint is d-admissible.Formally:Proposition 4.1Any set of constraints is d-admissi-ble if T uo,i =∅for all i =1...n andi =1...nT uc,i =∅.The construction of a decentralized supervisor for d-admissible constraints is illustrated on the Petri net of Figure 3.The mutual exclusion constraint µ1+µ3≤1is to be enforced.The centralized control solution is shown in Figure 5.In the case of decentralized su-pervision,there are two subsystems:the first one is composed of the places p 1and p 2,and the second one of the places p 3and p 4.Assume T uo,1=T uo,2=∅,T uc,1={t 3,t 4}and T uc,2={t 1,t 2}.Note that the constraint is not c-admissible with respect to any of (N ,T uc,1,T uo,1)or (N ,T uc,2,T uo,2).However,it is d-admissible.The decentralized solution is shown also in Figure 5.There are two control places C 1and C 2,each representing the supervisor of the left and right sub-system,respectively.Note that C 1and C 2and their connections represent two copies of the control place C and its connections.As C 1and C 2have the same initial marking as C ,their markings stay equal at all times.So,at all times C 1disables the same transitions as C 2.However,as discussed before,the disablement of t 1(t 4)is implemented by C 1(C 2),while (C 1,t 4)and (C 2,t 1)are interpreted as observation arcs.Algorithm 4.1Supervisor design for a d-admissible constraint (uses the notation of Definition 4.1)1.Create |C|copies of the centralized supervisor en-forcing the constraint in (N ,T uc ,T uo ).2.Associate each copy to one of the subsystems i ∈C ;it represents the supervisor of subsystem i .3.Set the initial state of each copy to the initial state of the centralized supervisor.To enforce a d-admissible set of constraints,the con-struction is repeated for each constraint.Next we prove that the resulting decentralized supervisor is feasible (physically implementable).Let S 1,S 2,...S n denote the local supervisors of a decentralized supervisor,were each of S i can control and observe the transitions in T c,i and T o,i ,respectively.The decentralized supervisor is feasible if for all reachable markings µc of the closed-loop and for all transitions t :(i)for all i =1...n ,if t is closed-loop enabled and t /∈T o,i ,firing t does not change the state (marking)of S i ;(ii)if t is plant-enabled but not closed-loop enabled,there is an S i dis-abling t such that t ∈T c,i .Theorem 4.1The decentralized supervisor constructed in Algorithm 4.1is feasible,enforces the desired con-straint,and is as permissive as the centralized supervi-sor of (N ,T uc ,T uo ).Proof:The notation of Definition 4.1is assumed.Note that all supervisors S i have the same connections to the net and the same initial marking as the central-ized supervisor.Therefore,all of S i have equal marking at all times.Feasibility:True,since for anytransition t ,t is enabled by the decentralized super-visor iffit is enabled by the centralized supervisor.Decentralized controlCentralized controlLeft subsystemRight subsystemp 2t 1t Figure 5:Centralized control versus decentralized control.2.Find the largest set of subsystems C such that ∀i ∈C :T uo,i ⊆T ∗uo .3.If C =∅,declare that the constraint is not d-admissible and exit.4.Define T uc =i ∈CT uc,i .5.Does T uc satisfy T uc ⊆T ∗uc?If yes,declare the con-straint d-admissible.Otherwise,declare that the constraint is not d-admissible.In the algorithm above,as long as a constraint is d-admissible,the constraint can be implemented for aminimal set C min ⊆C containing the minimal number of subsystems such that T ∗uc ⊇i ∈C minT uc,i .Proposition 4.2The algorithm checking d-admissibility is correct.Proof:We prove that the algorithm declares a con-straint d-admissible only if it is d-admissible,and thatall d-admissible constraints are declared d-admissible.Let T uo =i ∈CT uo,i .By construction,T uo ⊆T ∗uo .A constraint is declared d-admissible if C =∅and T uc ⊆T ∗uc .The definition of T ∗uo and T ∗uc implies that the constraint is c-admissible with respect to (N ,T uc ,T uo ).Then,in view of Definition 4.1,the algorithm is right to declare the constraint d-admissible.Next,assume a d-admissible constraint.Then,there isC =∅such that the constraint is c-admissible with respect to (N ,T uc ,T uo )(where Tuc =i ∈C T uc,i and T uo= i ∈CT uc,i ).Then T uo ⊆T ∗uo ;T uo ⊆T ∗uo ⇒C ⊆C ⇒T uc ⊆T uc⇒T uc ⊆T ∗uc .So,the algorithm declares the constraint to be d-admissible.The purpose of communication is to reduce the set of unobservable transitions T uo,i such that,if possible,the given constraints are c-admissible with respect to (N ,T uc ,T uo ).Note that communication cannot reduceT uo below the attainable lower bound T uo,L ⊆T uo ,where T uo,L =i =1...nT uo,i .T uc can be changed by se-lecting a different set C ,but it cannot be reduced below T uc,L =i =1...nT uc,i .T uc,L (T uo,L )is the set of transi-tions uncontrollable (unobservable)in all subsystems.Algorithm 5.1Decentralized Supervisor Design 1.Is the specification admissible with respect to (N ,T uc,L ,T uo,L )?If not,transform it to be admissi-ble (an approach of [5]could be used)or use the de-centralized design approach of the sequel paper [3].2.Let S be the centralized SBPI supervisor enforcing the specification.Let T c be the set of transitions controlled by S and T o the set of transitions detected by S .3.Find a set C such thati ∈CT uc,i ⊆T \T c .54.Design the decentralized supervisor by applying Al-gorithm 4.1to N and C .5.The communication can be designed as follows:for all t ∈T o ∩(i ∈CT uo,i ),a subsystem j such that t ∈T o,j transmits the firings of t to all supervisors S k with t ∈T uo,k and k ∈C .Note the following.First,no communication arises when T o ∩(i ∈CT uo,i )=∅.Second,the algorithm does not take in account communication limitations,such as bandwidth limitations of the communication chan-nel.Bandwidth limitations can be considered in the approach of the sequel paper [3].Third,this solution tends to require less communication than a centralized solution.Indeed,a central supervisor not only needs to send the control decisions to the local subsystems,but also to remotely observe all transitions in T o .Fourth,the main limitation of the algorithm is that in the case of inadmissible specifications,the transformation at the step 1may result in constraints that are too restrictive.If so,the alternative solution we propose in [3]could be used.Finally,the only way the algorithm can fail is at step 1,when the specification is inadmissible and the transformations to an admissible form fail.Proposition 5.1The decentralized supervisor is feasi-ble and equally permissive to the centralized supervisor S enforcing the specification on (N ,T uc ,T uo,L ).6ConclusionsThe design of decentralized supervisors is computation-ally easy for the class of specifications identified as d-admissible.When communication between the localsupervisors 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