[1]李旺,潘谜,王巍.基于Cilk的不确定机械手主控LM算法并行化研究[J].集美大学学报(自然版),2017,22(3):55-59.
 LI Wang,PAN Mi,WANG Wei.Parallel LM of Uncertain Multi-Finger Robot Host System Based on Cilk[J].Journal of Jimei University,2017,22(3):55-59.
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基于Cilk的不确定机械手主控LM算法并行化研究()
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《集美大学学报(自然版)》[ISSN:1007-7405/CN:35-1186/N]

卷:
第22卷
期数:
2017年第3期
页码:
55-59
栏目:
数理科学与信息工程
出版日期:
2017-05-28

文章信息/Info

Title:
Parallel LM of Uncertain Multi-Finger Robot Host System Based on Cilk
作者:
李旺1潘谜2王巍1
(1.集美大学计算机工程学院,福建 厦门 361021;2.集美大学理学院,福建 厦门 361021)
Author(s):
LI Wang1PAN Mi2WANG Wei1
(1.College of Computer Engineering,Jimei University,Xiamen 361021,China;2.School of Science,Jimei University,Xiamen 361021,China)
关键词:
并行处理LM算法Cilk
Keywords:
parallel processingLM algorithmCilk
文献标志码:
A
摘要:
由于不确定机械手本身的非线性、复杂的特性,普通主控算法无法实现有效控制。提出了基于Cilk的主控LM算法,旨在通过多核并行处理,提高系统的响应能力。建立了基于LM的核心算法,并针对3种拟合函数作并行化处理,研究Cilk并行化对算法性能的影响。实验表明,Cilk能够有效提升LM算法性能,从而提升主控系统的响应能力。
Abstract:
Effective control can't be obtained by general host system,because of the nolinearity and complexity of uncertain multi-finger robot.This paper puts forward an uncertain multi-finger robot host system based on Cilk & LM algorithm,which improves the system responsiveness with multiprocessor technology.Also this paper builds a core algorithm based on LM,handles the parallel processing of 3 fitting function models,and checks the effect of Cilk.The experiments show that Cilk can improve the performance of LM algorithms,and promote the capacity and responsiveness of the host system.
更新日期/Last Update: 2017-09-10