Abstract: A data synchronization method and apparatus are provided for a distributed control system where multiple controllers can control a plurality of actuators or sensors. The actuators or sensors are assigned to logical groups that share a common state. One of the actuators or sensors within a logical group serves as a reference device for a state variable. Before taking a control action, the controllers read the current value of the state variable from the reference device. Data synchronization is maintained by one or more refresh master controllers.

Abstract: An apparatus and method for adapting to changes in the control topology of a cooperative control system including a plurality of controllers are disclosed. The method is implemented by an actuator or sensor, and includes the steps of selecting one of the controllers as the master controller for one or more state variables of an actuator or sensor, detecting a change in the control topology of the cooperative control system, and reselecting a master controller for the one or more state variables responsive to the change in the control topology.

Abstract: In a distributed control system where multiple controllers can control the same actuator or sensor, each controller is assigned a priority level, and command arbitration is based on the relative priority levels of the controllers. Each actuator or sensor selects a controller to serve as a master controller for one or more of its state variables. Different master controllers may be selected for different state variables. When a command is received by the actuator or sensor, it determines how to treat the command by comparing the priority of the controller from which the command originated to the priority of the master controller.

Abstract: A data synchronization method and apparatus are provided for a distributed control system where multiple controllers can control a plurality of actuators or sensors. The actuators or sensors are assigned to logical groups that share a common state. One of the actuators or sensors within a logical group serves as a reference device for a state variable. Before taking a control action, the controllers read the current value of the state variable from the reference device. Data synchronization is maintained by one or more refresh master controllers.

Abstract: An apparatus and method for adapting to changes in the control topology of a cooperative control system including a plurality of controllers are disclosed. The method is implemented by an actuator or sensor, and includes the steps of selecting one of the controllers as the master controller for one or more state variables of an actuator or sensor, detecting a change in the control topology of the cooperative control system, and reselecting a master controller for the one or more state variables responsive to the change in the control topology.

Abstract: A device for debugging an electronic circuit manufactured from an initial program in hardware description language, HDL, comprising an instrumentation unit capable of receiving the initial program; receiving an additional program describing determined functions; determining an additional circuit to be incorporated into the electronic circuit from the additional program, capable of setting to a determined value a signal selected from among an input signal, an output signal, or a signal internal to the additional circuit; and providing a modified program in HDL language incorporating a description in HDL language of the additional circuit; and a debugging unit capable of debugging a modified electronic circuit manufactured from the modified program, the debugging unit being capable of communicating with the additional circuit to control the setting to the determined value of the selected signal.

Abstract: A device for debugging an electronic circuit manufactured based on an initial program in hardware description language comprising an instrumentation unit capable of determining a first additional circuit capable of activating a first observation signal representative of the operation of a portion of the electronic circuit corresponding to a determined portion of the initial program, a second additional circuit capable of receiving at least one input signal and of activating a condition signal when a condition on the input signal is fulfilled, a third additional circuit capable of activating a second observation signal when the condition signal is activated, a fourth additional circuit capable of memorizing data representative of the order of activation of the first and second observation signals and capable of providing a modified program incorporating the additional circuits, and a debugging unit capable of debugging a modified electronic circuit manufactured based on the modified program.

Abstract: A device for debugging an electronic circuit manufactured from an initial program in hardware description language, HDL, comprising an instrumentation unit capable of receiving the initial program; receiving an additional program describing determined functions; determining an additional circuit to be incorporated into the electronic circuit from the additional program, capable of setting to a determined value a signal selected from among an input signal, an output signal, or a signal internal to the additional circuit; and providing a modified program in HDL language incorporating a description in HDL language of the additional circuit; and a debugging unit capable of debugging a modified electronic circuit manufactured from the modified program, the debugging unit being capable of communicating with the additional circuit to control the setting to the determined value of the selected signal.

Abstract: A device for debugging an electronic circuit manufactured based on an initial program in hardware description language comprising an instrumentation unit capable of determining a first additional circuit capable of activating a first observation signal representative of the operation of a portion of the electronic circuit corresponding to a determined portion of the initial program, a second additional circuit capable of receiving at least one input signal and of activating a condition signal when a condition on the input signal is fulfilled, a third additional circuit capable of activating a second observation signal when the condition signal is activated, a fourth additional circuit capable of memorizing data representative of the order of activation of the first and second observation signals and capable of providing a modified program incorporating the additional circuits, and a debugging unit capable of debugging a modified electronic circuit manufactured based on the modified program.

Abstract: A fluid transfer valve (1) adapted to be cleaned by scraping, comprising a main fluid transfer section (2), a plurality of secondary fluid transfer sections distributed angularly about the axis (X--X) of the main section and disposed at equal distances from and at equal inclinations to this axis, and a rotary tubular elbow (4) connected at one end (4A) by a rotary coupling (5) to the main section and adapted, depending on its angular position about the axis of the main section, to have its other end (4B) aligned with any selected one (3A) of the secondary sections.

Abstract: A safety device for coupling one end of a main conduit of a first piping element coaxially to one end of a second piping element. The first piping element has a branch conduit adjacent to the one end of the main conduit, and the device includes an obdurating member inside the main conduit of the first piping element, an operating mechanism connected to the obdurating member and extending from the other end of the main conduit for moving the obdurating member between a first position and a second position to selectively open and close the passage between the one end of the main conduit and the branch conduit, clamping apparatus mounted on the second piping element for clamping the two elements together, and an actuator mounted externally on the second piping element for engagement with the operating mechanism when the two elements are coupled together to move the mechanism between the first and second positions.

Abstract: Device for loading and unloading cargo vessels conveying gaseous, liquid or solid materials, comprising a system of hinged on-shore conduits, selective means for connecting said conduits to stationary conduits of on-shore plants and to conduits of vessel tanks, means for cleaning said hinged on-shore conduits, the number of which is smaller than that of said stationary conduits of on-shore plants and that of conduits of vessel tanks.