International J ournal of Advanced C omputer Science, Vol. 2, No. 12, Pp. 461-463, Dec., 2012.

Controlling motors of Clouding computer

Junshe Wan, & Linru You
Abstract The authors endeavor in this paper is to provide some new model and methods of controlling motors. For single control of motor, it could not ensure the system stable, not stopping even if the control system could be crashed for some reasons. The paper provides a new control mode basing on the clouding computer. And the same time, if meet some bug, how to upgrade in stand of shutdown the total system, this paper also provide the heat upgrade method. Except that, the paper also provide a method to monitor the status of the whole system, how to ensure the data and file not lost and the whole system architect of programming language choose. All in all the paper provide a whole new method to meet the requirement of modern controlling motors.

Manuscript
Received: 27,Mar., 2012 Revised: 19,Jun., 2012 Accepted: 18,Sep., 2012 Published: 20,Dec., 2012

solve the single error in order to keep the system always running, the new model should be involving as clouding computer coming. How to revolution of controlling motors is the very important issue if the system should not stop for the one system is crashed or other reasons. The figure1 will show the classic model and Figure 2 will show clouding control model is like as below:

Keywords
Motor control, Clouding computer, heat upgrade, tolerate

Fig. 1: the classic model of controlling motors.

1. Introduction
On this paper , the first step give a new clouding controlling mode, then according to tolerate issue, next part is about supervisor tree, and next is about heat upgrade without stopping system. And the same time, the next content is about data lost issue, and the last part is about development of controlling motor, how to chose a suitable programming language., a conclusion of the whole paper is put in the last of the paper.

Fig. 2: Clouding control model of controlling motors.

2. Tolerate system from classic motor system

All the system of control motors mostly keeps the type that one system for one system so far. So if crash, control should be crash even if some improvement of how to add the accurate and agile controlling. From the root cause to
Junshe Wan Automatic Control department, South of China University of Technology, WuShan Road,Guangzhou City, Guangdong ,51006, the Peoples e-mail: 134116127236@tuletech.cn Linru You Automatic Control department, South of China University of Technology, WuShan Road,Guangzhou City, Guangdong ,51006, the Peoples e-mail:aulr.you@scut.edu.cn

Basically the mode is ongoing changing from simple to complicated if we watch the Figure 1 and Figure 2. The Figure 1 describe the most controlling system maybe follow the model that it is a one control serves one motor. But the Figure2 describes a system of clouding controlling motors. The Master Control is only receive the tasks from the motor1,motor2,motor3,motor4, and the same time, arrange the tasks to the control1,control2,control3,control4. The real task should be completed by the working controls liking control1, control2, control3, control4. As to Vice Master control is just stand by on the side of Mater Control. Once the Master Control is crashed for any reason, the Vice Master control will hand over all responsibility of Master Control. Thus any control is stopped for unclear reason, the whole system need not to care, because the system is just keeping running and it is so tolerate, it is so robust.

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International J ournal of Advanced C omputer Science, Vol. 2, No. 12, Pp. 461-463, Dec., 2012.

3. Supervisor about controlling motors

Anyway controlling system always stop one of those controlling for some reason, but it is different to define and know when one of many will be crashed. So if the system have a whole supervisor once one suddenly crashed for any reason, at least the another one should know the message of the one has been crashed, the another one could be hand over the tasks if supervisor arrange the task for the another one. Figure 3 will describe the total supervisor as below:
Fig. 4: the real process of upgrade.

Fig. 3: Supervisor tree of controlling motors.

If version k is old version, the version k+1 is a new version comparing to version k. The system is currently running the version k, we find some bugs and repair them to create the version k+1, how we to upgrade? In fact the system is running when we load the version k+1, the system had better use soft-change to upgrade to the version k+1. The whole process is completed when the system keep running. It is so cool. Suddenly we find the upgrade version k+1 and version K are not unstable, we want to downgrade to version k-1, how do we do for downgrade?

Suppose Work3 suddenly crashed for some reason, the crashed message should be sent to the Supervisor2; Supervisor2 then tell Supervisor4 the fact that Work3 have been crashed, who will be volunteers to take over the tasks for Work3; if possible, the Supervisor4 arrange Work1 to complete the tasks which Work3 have not completed. In fact the two parts are shown in the Figure3, the Supervisor is only to manage the Works, not do any real things; the Works only do itself. Once one work is crashed, the Supervisor knows the message and do plan of a new work to arrange new one to replace the crashed work.

Fig. 5: the process of downgrade.

4. Heat upgrade of control software

Generally the software of controlling motors always keeps update and provide new version to solve some bug or improving some performance of operation. Anything looks very well when we find some bug and repair it and release new version, but for special application we should not stop the system to upgrade liking Metro control system, nuclear fuel control system, and satellite control system. As you know the special system should not stop, and the same time we should repair bugs, how to solve the issue? In fact we could be use heat upgrade to keep system running to repair the bug. The real process of upgrade is just liking Figure4 as below:

The Figure5 is also suppose that the currently version is k, although version k have solve some bugs, the version is not unstable, the version is not accepted for the unstable. So we should to downgrade to the version k-1. The whole process is described as Figure5. Anything including upgrade and downgrade, we should keep only double versions in the current system. As time goes by, the system softly changes to so-called version. Who is new version? The last load version is so-call new version to run the system in the end.

5. The rule of replication of data

Data is important, and some data is so big, how to ensure to keep the data safe, the basic idea to replication. The rule includes three steps: one for split small according to different application, the second to replication 3 parts, the last step to put and get from 5 physically parts. The whole put process is liking Figure6 as below:

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Fig. 6: split file to store rule.

According to the Figure 6, the first step is split step, Block1,Block2,Block3 is split, only the last block doesnt equal others, the size of per Block belong to others is the same. So Block1 and Block2 is the same size. And the second step is to replicate 3 parts, the third step is to put 3 replications to five physical parts. In fact how many replications we could be set by yourself, normally most user to choose 3 replications. And the third step is very important, we hopefully put all duplications of one file into 5 physically different parts. As you know that if the putting parts bigger more 5, the getting time is more.

framework to help to complete your development, and also Erlang could strongly support heat upgrade, choose Erlang as controlling part is a good suggestion. But to the UI, most people like java, it is also a good choose to use java to development. How to communication between java,Erlang and C is also an important issue. Jinterface is the bridge of between java and Erlang. As to C and Erlang, it is could use three method to contact, one is used port, another is used virtual machine of Erlang, the third is used as node. Unfortunately not all method is a suggested choose. The paper only suggest that the port method of between Erlang and C is good way. If you want root cause, the answer is simple: the two other methods exists risk of system if one of C programming software crash, all system should be crash.

7. Conclusion and future work

Modern controlling motors would be revoluted as clouding computer coming. The paper provide some new model and methods to try the system tolerate and elastic. Of course new technology will be used in the future, also including controlling motors. The topic of controlling motors is included some side, the paper is only to improve tolerate of system to provide some directions, as to real practice, it need time to check and improve.

6. Choosing Programming language of total system

The whole system is complicated, how to choose the programming language is also very difficult to decide. As you know the motors controlling is always used in C or assemble language. But for huge system, the programming speed is a little slow. We could separate difficult to 3 part as Figure7 as below:

References
[1] J. Armstrong, Making reliable distributed systems in the presence of software errors, Ph.D. dissertation, The Royal Institute of Technology, Stockholm, Sweden, December 2003.. [2] J. Armstrong, M. Williams, C. Wikstrom, and R. Virding. Concurrent Programming in Erlang. Prentice-Hall, Englewood Clics, N.J., 1996. [3] J. L. Armstrong and T. Arts. A practical type system for erlang. Erlang User Conference, 2002. [4] Hakan Millroth. Private communication. 2003. [5] Henrik Back, Rickard Engberg, Johan Herdegard, Mikael Laaksonen, Rickard Lejon, Daniel Nibon, Viveka Sjoblom, Gustav Tano, Jiying Tian, Ming Zhao,Hao Zhang, Song Yuan Developing a location based service for mobile Phones 2006 [6] Global Mobile Phone & Smartphone Market (2010-2015). (2011). Available: http://www.marketsandmarkets.com/Market-Reports/smartphonemarket-219.html [7] Armstrong, J. L., Virding, S. R. and Williams, M. C., Use of Prolog for developing a new [8] G. Agha, Actors: a model of concurrent computation in distributed systems. Cambridge, MA, USA: MIT Press, 1986. [9] Amazon SimpleDB, http://aws.amazon.com/simpledb/. [10] Apache CouchDB, http://couchdb.apache.org/.

Fig. 7: programming language of controlling motors.

The infrastructure is drive part, most people know the C and assemble language, because there are samples of datasheet of CPU is always assemble, assemble could be embedded to C language. So choose C or assemble is a best choose. As to control part, the paper suggest that we could choose Erlang. Because Erlang is a distributed function programming language, its behaves of OTP is good

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