Clock synchoronization mechanism for a distributed autonomous system

Shigeru Kokaji, Satoshi Murata, Haruhisa Kurokawa, Kohji Tomita

研究成果: ジャーナルへの寄稿学術論文査読


A self-configurable mechanical system is being developed at the Mechanical Engineering Laboratory. The system is composed of many identical mechanical units and each unit can communicate with its neighbor units. When the units genarate cooperative motion, it is required to establish common clock timing. In this paper, an algorithm is proposed to establish the common clock without being trapped in a dead lock condition. In this method, all units follow the same procedure in a distributed way, that is, there is no central control unit in the system. The operation of the units is analyzed with a physical spring damper model. It is concluded that the commonn timing can be established if an inner parameter is chosen correctly.

ジャーナルKikai Gijutsu Kenkyusho Shoho/Journal of Mechanical Engineering Laboratory
出版ステータス出版済み - 1996 11月


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