MIPI Alliance Specification for D-PHY
MIPI Alliance Specification for D-PHY Version 1.00.00 – 14 May 2009配合“MIPI Alliance Specification for Camera Serial Interface 2 (CSI-2)“ 一起看。http://download.csdn.net/detail/micro_st/4242724Version1.00.0014-May-2009MIPI Alliance Specification for D-PHY2 The material contained herein is not a license, either expressly or impliedly, to any IPR owned or3 controlled by any of the authors or developers of this material or MIPl. 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All rights reservedMIPI Alliance Member ConfidentialVersion1.00.0014-May-2009MIPI Alliance Specification for D-PHY42 Contents43 Draft Version 1.00.00-14 May 2009441 Overview1451.2 Purpose.…..,.,.,,.,..472 Terminology…2.1 Definitions162.2 Abbreviations…172.3 Acronyms51 3 D-PHY Introduction523.1 Summary of Phy functionality533.2 Mandatory Functionality················2054 4 Architecture21554.1 Lane modules…564.2 Master and slave2254.3 High Frequency Clock Generation22584.4 Clock lane data lanes and the phy-Protocol interface.224.5 Selectable Lane Options·;····················234.6 Lane Module Types4.6.1 Unidirectional Data Lane…264.6.2 Bi-directional data lanes26634.6.3 Clock lane.274.7 Configurations….7654.7.1 Unidirectional Configurations............664.7.2Bi-Dal Half-Duplex Configurations674.7.3 Mixed Data Lane configurations32Copyright C 2007-2009 MIPl Alliance, Inc. All rights reservedMIPI Alliance Member Confidential111Ⅴ ersion1.00.0014-May-2009MIPI Alliance Specification for D-PHY695.1Transmission Data Structure,………………………∴335.1.1Data unitsa勹5.1.2 Bit order Serialization and De-Serialization33725.1.3 Encoding and decoding735.1.4 Data Buffering,33745.2 Lane States and Line levels755.3 Operating Modes: Control, High-Speed, and Escape5. 4 High-Speed Data Transmission··········;·5. 41 Burst payload data785.4.2 Start-of-Transmission795.4.3End-of-transmission805.4.4 HS Data Transmission burst.365.5 Bi-directional data Lane turnaround5.6 Escape Mode41835.6.1Remote triggers42845.6.2 Low-Power data Transmission43855.6.3 Ultra-Low Power State865.6.4 Escape Mode State Machine43875.7 High-Speed Clock Transmission885. 8 Clock lane Ultra-Low Power State50959 Global Operation Timing Parameters.……5.10 System Power States56915.11 Initialization56925.12 Calibration5.13 Global Operation Flow Diagram57945.14 Data Rate Dependent Parameters(informative)955. 14.1 Parameters Containing Only UI values965. 14.2 Parameters Containing Time and Ul values59Copyright C 2007-2009 MIPl Alliance, Inc. All rights reservedMIPI Alliance Member ConfidentialVersion1.00.0014-May-2009MIPI Alliance Specification for D-PHY5.14.3 Parameters Containing Only Time Values…………5.14.4 Parameters Containing Only Time Values That Are Not Data Rate Dependent6 Fault detection611006.1 Contention detection1016.2 Sequence Error Detection.……611026.2.1 SoT Error621036.2.2 SOT Sync Error1046.2.3 EoT Sync Error1056.2. 4 Escape Mode Entry Command error.1066.2.5 LP Transmission Sync error621076.2.6 False Control error1086.3 Protocol Watchdog Timers(informative)62l096.3.1 HS RX Timeout6.3.2HS TX Timeout………………·················+···:··:·················∴62l116.3.3Escape mode timeout62l126.3. 4 Escape Mode Silence Timeout6.3.5 Turnaround errors114 7 Interconnect and Lane Configuration.641157.1 Lane configuration1167.2 Boundary Conditions.....…647.3 Definitions………64l187.4S- parameter Specifications………….651197.5 Characterization Conditions207.6 nterconnect Specifications………1217.6.1 Differential characteristics1227. 6.2 Common-mode characteristics671237.6.3 Intra-Lane Cross-Coupling1247. 6. 4 Mode-Conversion limitsCopyright C 2007-2009 MIPl Alliance, Inc. All rights reservedMIPI Alliance Member ConfidentialVersion1.00.0014-May-2009MIPI Alliance Specification for D-PHY1257.6.5 Inter-Lane Cross-Coupling671267. 6.6 Inter-Lane static skew1277.7 Driver and receiver Characteristics1287.7.1 Differential Characteristics1297. 7.2 Common-Mode characteristics1307.7.3 Mode-Conversion Limits1317.7.4 Inter-Lane Matching132 8 Electrical Characterislics701338.1 Driver characteristics1348.1.1 High-Speed Transmitter1358.1.2 Low-Power Transmitter1368.2 Receiver Characteristic·…············…·······…8301378.2.1 High-Speed Receiver801388.2.2Low- Power receiver.................….….821398.3 Line contention detection1408.4 Input Characteristics8441 9 High-Speed Data-Clock Timing1429.1 High-Speed Clock Timing861439.2 Forward High-Speed Data Transmission Timing871449.2.1 Data-Clock Timing Specifications1459.3 Reverse High-Speed Data Transmission Timing89146 10 Regulatory Requirements91147 Annex A Logical PHY-Protocol Inter face Description(informative)92148A 1 Signal Description149A 2 High-Speed Transmit from the Master Side150A3 High-Speed receive at the slave Sidel00151A 4 High-Speed Transmit from the Slave side152A.5 High-Speed Receive at the Master SideIOICopyright C 2007-2009 MIPl Alliance, Inc. All rights reservedMIPI Alliance Member ConfidentialVersion1.00.0014-May-2009MIPI Alliance Specification for D-PHY153A6 Low-Power Data Transmission102154A7 Low-Power Data Reception.103155A 8 Turn-around156 Annex B Interconnect Design Guidelines (informative)105157B. 1 Practical distances105158B 2 RF Frequency Bands: Interference.105B3 Transmission Line design160B4 Reference Layer.106161B 5 Printed-Circuit board106162B6 Flex-foils106163B 7 Series resistance106164B 8 Connectors106165 Annex C 8b9b Line Coding for D-PHY(normative)107166C 1 Line Coding Features...·············108167C.1.1Enabled Features for the Protocol108l68C 1. 2 Enabled Features for the Phy108169C2 Coding scheme170C 2.1 8b9b Coding Properties.....108171C 2.2 Data Codes: Basic Code Set……….109C.2.3 Comma Codes: Unique Exception Codes110173C 2.4 Control Codes: Regular Exception Codes…10174C.2.5 Complete Coding Scheme………175C 3 Operation with the D-PhY…11117yload: Data and Control177C.3.2 Details for Hs transmission………112178C.3.3 Details for LP Transmissionl12179C 4 Error Signal180C5 Extended PplCopyright C 2007-2009 MIPl Alliance, Inc. All rights reservedMIPI Alliance Member ConfidentialⅤ ersion1.00.0014-May-2009MIPI Alliance Specification for D-PHYl81C.6 Complete Code Set.….….l15182Copyright C 2007-2009 MIPl Alliance, Inc. All rights reservedMIPI Alliance Member Confidentialv111Version1.00.0014-May-2009MIPI Alliance Specification for D-PHYl83Figures184 Figure 1 Universal Lane Module functions21185 Figure2 Two Data Lane PHY Configuration.…………23186 Figure 3 Option Selection Flow Graph4187 Figure 4 Universal Lane Module Architecture25188 Figure 5 Lane Symbol Macros and Symbols Legend189 Figure 6 All Possible Data Lane Types and a basic Unidirectional Clock lane190 Figure 7 Unidirectional Single Data Lane Configuration30191 Figure 8 Unidirectional Multiple Data Lane Configuration without LPDT∴.30192 Figure 9 Two Directions Using Two Independent Unidirectional PHYs without LPDT.........31193 Figure 10 Bidirectional Single Data Lane Configuration31194 Figure 1l Bi-directional Multiple Data Lane Configuration......32195 Figure 12 Mixed Type multiple data Lane Configuration32196 Figure 13 Line level34197 Figure 14 High-Speed Data Transmission in Bursts36198 Figure 15 TX and rX State Machines for High-Speed Data Transmission37Figure16 Turnaround Procedure.……39200 Figure 17 Turnaround State Machine40201 Figure 18 Trigger-Reset Command in Escape Mode202 Figure 19 Two Data Byte Low-Power Data Transmission Example203 Figure 20 Escape Mode State Machine204 Figure2 I Switching the Clock Lane between Clock Transmission and low- Power mode………….47205 Figure 22 High-Speed Clock Transmission State Machine49206 Figure 23 Clock Lane Ultra-Low Power State State Machine········+·+···+·4···207 Figure 24 Data Lane Module State Diagram57208 Figure 25 Clock Lane Module state diagram58209 Figure 26 Point-to-point InterconnectCopyright C 2007-2009 MIPl Alliance, Inc. All rights reservedMIPI Alliance Member Confidential
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多智能体系统的协同群集运动控制
《多智能体系统的协同群集运动控制》以多智能体系统协同群集运动控制为主线，首先介绍了图论和控制器设计所用到的基础理论知识；其次，分别从拓扑结构的边保持和代数连通度两个角度介绍了连通性保持条件下的协同群集运动控制协议设计方法；进而，针对典型的轮式移动机器人非完整约束模型介绍了连通性保持条件下的协同控制策略，为简化系统复杂拓扑结构，还介绍了基于骨干网络提取的协同群集运动控制策略；书中将个体动态模型提升到高阶非线性系统模型，介绍了高阶非线性系统协同控制协议设计方法；最后，针对多智能体系统非合作行为检测与隔离进行了详细介绍，并提出了相关算法。内容简介本书以多智能体系统协同群集运动控制为主线,首先介绍了图论和控制器设计所用到的基础理论知识;其次,分别从拓扑结构的边保持和代数连通度两个角度介绍了连通性保持条件下的协同群集运动控制协议设计方法;进而,针对典型的轮式移动机器人非完整约束模型介绍了连通性保持条件下的协同控制策略,为简化系统复杂拓扑结构,还介绍了基于骨干网络提取的协同群集运动控制策略;书中将个体动态模型提升到高阶非线性系统模型,介绍了高阶非线性系统协同控制协议设计方法;最后,针对多智能体系统非合作行为检测与隔离进行了详细介绍,并提出了相关算法。本书可作为系统与控制及其相关研究领域的科研工作者、工程技术人员、高等院校师生的参考书,也可作为研究生和高年级本科生的教科书。图书在版编目(CIP)数据多智能体系统的协同群集运动控制/陈杰,方浩,辛斌著.一北京:科学出版社,2017(系统与控制丛书)ISBN978-7-03-051165-2L.①多…Ⅱ.①陈…②方…③辛…Ⅲ.①人工智能-研究Ⅳ.①TP18中国版本图书馆CP数据核字(2016)第310934号责任编辑:杨向萍裴育纪四稳/责任校对:桂伟利责任印制:张倩/封面设计:蓝正舞学出服出版北京东黄城根北街16号邮政编码:100717http://www.sciencep.com京通州皇家印刷厂印刷科学出版社发行各地新华书店经销2017年1月第一版开本:720×10001/162017年1月第一次印刷印张:1414字数:268000定价:95.00元(如有印装质量问题,我社负责调换)《系统与控制丛书》编委会主编:郭雷中国科学院数学与系统科学研究院副主编:陈杰北京理工大学编委:洪奕光中国科学院数学与系统科学研究院黄捷Chinese University of Hong Kong姜钟平Polytechnic Institute of New YorkUniversity USAFrank lewisUniversity of Texas at Arlington, USA林宗利University of Virginia, USA申铁龙Sophia University, Japan谈自忠Washington University, USA谢立华Nanyang Technological UniversitySingapore殷刚Wayne State University, USA张纪峰中国科学院数学与系统科学研究院周东华清华大学编者的话我们生活在一个科学技术飞速发展的信息时代,诸如宇宙飞船、机器人、因特网、智能机器及汽车制造等高新技术对自动化提出了更高的要求。系统与控制理论也因此面临着更大的挑战。它必须能够为设计高水平的物理或信息系统提供原理和方法,使得设计出的系统能感知并自动适应快速变化的环境。为帮助系统控制专业的专家、工程师以及青年学生迎接这些挑战,科学出版社和中国自动化学会控制理论专业委员会合作,设立了《系统与控制丛书》的出版项目。本丛书分中、英文两个系列,目的是出版一些具有创新思想的高质量著作,内容既可以是新的研究方向,也可以是至今仍然活跃的传统方向。研究生是本丛书的主要读者群,因此,我们强调内容的可读性和表述的清晰。我们希望丛书能达到这些目的,为此,期盼着大家的支持和奉献!《系统与控制丛书》编委会2007年4月1日序言自20世纪50年代以来,控制科学不断发展,诞生了诸如最优控制、鲁棒控制、非线性控制等众多研究方向以及大量的科研成果,极大地推动了第三次工业革命的发展。但近年来,由于控制对象规模呈爆炸式增长、信息化社会生成海量数据,系统与控制科学作为一门面向应用的学科正面临着许多重大挑战;同时,计算机科学以及人工智能的兴起也为系统与控制科学的发展带来了新的机遇和启示。受到自然界广泛存在的生物种群有序运动现象的启发,多智能体的研究开始受到广大学者的关注。70年代末期,智能体概念初现,主要研究如何通过协作方式分布式求解问题。90年代,多智能体系统涌现出自主性、社会能力、反应性等特性,使多智能体协同成为控制领域的研究热点。目前,多智能体协同已经应用于智能机器人交通控制、柔性制造、网络自动化和作战智能体模型等领域。毫无疑问,未来几年多智能体协同仍将吸引更多学者的广泛关注,继续在系统与控制科学的发展中扮演十分重要的角色。多智能体协同控制所要解决的根本问题在于如何设计合理的控制协议来协调多个个体统一完成任务,这与传统基于单一对象的控制理论有很大的区别。陈杰教授团队对此进行了大量的研究工作,并取得了很好的研究成果。该书以多智能体系统协同群集运动控制为主线,结合作者在该领域多年的研究积累及国内外最新的研究成果,给出了基于代数连通度估计、基于骨干网络等多种分布式群集运动控制方法,同时考虑了系统连通性保持、模型参数不确定性、多任务约束等诸多限制条件,扩展了相应成果的应用范围。全书内容丰富,论述深入浅出,既有严谨的理论推导与证明,又有数值仿真与实物实验验证,是一本难得的介绍控制理论在多智能体协同控制方面最新研究进展的学术专著。当前世界正在发生着深刻的变革,以互联网产业化、工业智能化、工业一体化为代表的第四次工业革命正悄然到来。该书所研究的内容顺应了当前工业发展的潮流,在民用、军用等领域有着广阔的应用前景,也非常适合相关领域的学者和工程技术人员参考阅读。序言我相信,该书的出版能够对多智能体协同控制领域的研究发展有所帮助,也希望作者能够在该方向上持续研究,取得更多的高水平研究成果。郑列了西安交通大学教授中国自动化学会理事长中国工程院院士2016年12月前言智能体的概念来源于分布式人工智能的思想,通常而言,可以把智能体定义为用来完成某类任务,能作用于自身和环境、有生命周期的一个物理的或抽象的计算实体。智能体的特点是具有自主性、局部通信/感知能力、分布式协作能力、任务分解能力、自适应性和推理能力。而多智能体系统是由多个智能体组成的具有松散耦合结构的,并且通过系统中智能体之间以及智能体与环境之间的通信、协商和协作来共同完成单个智能体( Agent)因能力、知识或资源上的不足而无法解决的问题的系统。多智能体系统通过相互协作,可以完成超出它们各自能力范围的任务,使得系统整体能力大于个体能力之和。鲁棒性、分散性、自组织性是多智能体系统动态行为的基本特征。多智能体协同控制是目前控制科学研究领域的一个热点课题在许多国际期刊及会议中,每年均有大量关于多智能体系统的研究文章出现。多智能体系统由个体的动态模型、通信网络拓扑、分布式控制律(或者协议/规则)三个基本要素构成。本书以多智能体系统协同群集运动控制为主线,围绕上述三个基本要素,首先介绍图论和控制器设计所用到的基础性理论等背景知识;其次面向典型应用,考虑实际约東条件,分别从拓扑结构的边保持和代数连通度两个角度介绍通信连通性保持条件下的协同群集运动控制协议设计方法;进而,从个体动态模型和拓扑结构模型两方面继续深入,针对典型的轮式移动机器人非完整约束模型介绍连通性保持条件下的协同控制策略,为简化系统拓扑结构对控制器设计的影响,介绍基于骨干网络提取的协同群集运动控制策略;书中还将个体动态模型由简单的一阶、二阶线性模型提升到高阶非线性系统模型,介绍高阶非线性系统协同控制协议设计方法;最后针对多智能体系统非合作行为检测与隔离进行详细介绍,并提出相关算法。本书内容自成体系,旨在向读者详细介绍多智能体系统协同群集运动控制的基础理论和最新研究成果本书由11个章节构成。第1章为基础知识部分,首先对多智能体群集运动控制、一致性控制以及非合作行为检测与补偿进行全面的综述,其次介绍在理论推导过程中所用到的代数图论的基础理论知识。第2章介绍在无法获取动态领航者智能体的加速度信息的条件下,进行连通性保持的有界群集运动控制方法。第3章从前言全局连通性的角度,介绍基于代数连通度分布式估计的连通性保持控制方法。第4章针对非完整约束轮式机器人,介绍连通性保持下的多移动机器人群集控制。第5章介绍层次型骨干网络的建立方法,以及基于骨干网络提取的协同避障运动控制方法。第6章针对参数不确定的高阶非线性多智能体系统,设计分布式控制器实现系统的一致性。第7章针对 Brunovsky型高阶非线性多智能体系统,设计分布式一致性控制器。第8章针对高阶非线性多智能体系统,设计自适应鲁棒一致性控制器,并对控制器性能进行分析。第9章在多任务约束下,设计多智能体一致性控制器。第10章介绍一阶多智能体系统的非合作行为检测、隔离与修复算法。第11章介绍基于邻居相关状态的多智能体非合作行为检测与隔离算法。感谢中国自动化学会控制理论专业委员会、《系统与控制丛书》编委会对本书出版的大力支持。本书得到了国家杰出青年科学基金项目(60925011)、国家自然科学基金创新研究群体项目(61321002、61621063)、国家自然科学基金重大国际合作研究项目(61120106010)、国家自然科学基金项目(61573062、61304215、61673058)、北京市优秀博士学位论文指导教师科技项目(20131000704)的资助,在此表示衷心的感谢。同时,还要感谢本领域相关同行学者在本书撰写过程中给予的热心支持,以及毛昱天、黄捷、杨庆凯、李俨、尉越、卢少磊、吴楚、王雪源、商成思、开昰雄、罗明等同学对本书出版给予的大力帮助。由于作者水平有限,书中疏漏和不妥之处在所难免,敬请读者批评指正。作者2016年11月目录编者的话序言前言第1章绪论··················.······1.1多智能体分布式群集运动控制12多智能体一致性控制概述51.2.1低阶积分器多智能体一致性……1.2.2高阶线性多智能体一致性…111.2.3高阶非线性多智能体一致性1713多智能体非合作行为检测与补偿概述2114代数图论背景知识…………26第2章连通性保持条件下多智能体系统群集运动控制3121研究背景3122问题描述312.3领航跟随群集运动控制律∴……………………………·3224稳定性分析……………3425仿真和实验372.51数值仿真37252实物实验,,,,·,,,,,………………402.6结论………………43第3章基于代数连通度估计的多智能体系统群集运动控制·4431研究背景443.2问题描述…………………………………………443.3控制律设计∴………………4634入2的分布式估计473.5稳定性分析52
- 2020-12-11下载
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