基于LSOA的机器人控制系统设计方法

提出一种面向服务的架构,应用于机器人控制系统,设计了一个以服务总线为中心的控制模式,提供简易的组件整合机制,实现服务的即插即用;此架构可提高控制系统的灵活性、可重构性、系统柔性等性能;基于此架构开发了一套基于二进制消息的交互机制,并对服务总线进行了轻量化设计,解决了传统SOA架构应用到控制系统导致的响应速度慢、系统庞大等特点,提高了系统的实时性。     

基于SOA的物流信息系统的研究与设计

针对目前物流相关企业的信息系统架构各异,实现的方式众多,采用传统的架构模式难以对现有的系统进行有效集成,从而导致物流资源信息缺乏有效共享等问题.SOA重构技术的引用成功打破了“信息孤岛”的僵局,成为企业应用集成方案中最具可行性的选择.文中基于SOA具有的松耦合、跨平台、可重用等优势,提出了一种基于SOA的物流信息集成框架模型,对框架内的各个技术层面特别是服务组装层面进行了深入探讨,并通过实例来说明该框架模型和该集成方案的可用性、有效性.     

基于SOA架构的物流系统开发平台

本文首先介绍了SOA的基本概念.SOA具有独立的功能实体,大数据量低频率访问和基于文本的消息传递这三大特征.敏捷编程是SOA的基础.再阐述了基于SOA架构的物流系统开发平台的特点、架构与范例     

基于SOA架构的外币买卖系统集成框架

SOA架构融合了开发与集成的模式,本文以外币买卖系统为例,讨论如何利用Web服务技术来实现基于SOA的系统集成,最大化满足企业信息和资源共享的需求,使系统具有高度的可扩展性和重用性.     

基于SOA的企业应用系统集成研究与实现

文中分析了企业应用系统集成的必要性和点对点集成及EAI方法的不足.探讨了面向服务的架构模型及其集成思想.提出了基于SOA的企业应用系统集成的解决方案,并给出了一个具体应用集成的开发示例.充分论证了基于SOA的应用系统集成开发的优越性和必然性.Web服务技术是实现SOA的最佳实践.     

基于SCA/SDO的高速铁路综合调度系统中间件设计

为了解决高速铁路综合调度系统在高度分布、高度异构环境下的系统集成问题,提出了基于面向服务架构(SOA)的系统集成架构。基于服务组件架构/服务数据对象(SCA/SDO)技术构建了高速铁路综合调度系统的体系结构及分布式SOA应用,在Java EE平台上基于SCA/SDO技术实现了供电调度子系统与其他子系统集成,所采用的方法充分体现了SOA的开放性和跨平台等特性,并且实现简单。     

自重构机器人团队控制系统的开发

本文旨在解决自重构机器人团队控制问题,基于多智能体技术,构造了机器人团队的控制系统,采用黑板结构设计了团队的主控系统,用于实现团队的协作和寻优,采用反应式主体设计了机器人机载控制系统,用于实现机器人的实时控制,实验表明该设计既能够满足了机器人实时性的要求,又能够实现多机器人协调、合作及系统寻优.     

基于SOA的敏捷制造系统集成框架研究

现有敏捷制造系统缺少灵活性,难以快速适应机械产品制造模式的变化及系统重构。本文笔者分析了面向服务架构(SOA)的特点后,提出了面向服务架构的敏捷制造系统集成框架,以实现不同制造模式的集成和系统的快速重构。     

Web Services在企业信息系统集成中应用架构的研究*

为解决目前大中型企业内异构环境下的信息系统集成,并实现与企业外部信息系统的通信,以SOA的观点出发,提出一种完全基于OSS(开源软件)平台、轻量级的系统集成应用架构.该架构不使用EJB来实现企业总线而使用轻量级ESB:Mule作为集成服务的基础;使用Axis作为Web Service的实现;充分使用可配置的策略实现各类系统组件的灵活拆装.系统外部仅开放SOAP/Web Services接口提供外部系统服务通信.这种架构具有SOA特性及相当好的集成效果.最后实现了一个DRP(Distribution Resource Plan,企业分销资源计划)系统原型;系统与企业原来的ERP灵活通信.     

基于SOA的邮政物流信息系统规划

研究利用SOA技术思想和体系结构,设计基于SOA的邮政物流信息系统规划方案,介绍SOA的概念及体系架构优点,分析邮政物流信息系统现状存在的问题,提出基于SOA的邮政物流信息系统规划设计思想,给出基于SOA的总体构架,并对该体系下的主要构建模块和业务流程服务功能进行了阐述.     

Dynamic Analysis and Distributed Control of the Tetrobot Modular Reconfigurable Robotic System

Reconfigurable robotic systems can be adapted to different tasks or environments by reorganizing their mechanical configurations. Such systems have many redundant degrees of freedom in order to meet the combined demands of strength, rigidity, workspace kinematics, reconfigurability, and fault tolerance. In order to implement these new generations of robotic system, new approaches must be considered for design, analysis, and control. This paper presents an efficient distributed computational scheme which computes the kinematics, dynamics, redundancy resolution, and control inputs for real-time application to the control of the Tetrobot modular reconfigurable robots. The entire system is decomposed into subsystems based on a modular approach and Newton's equations of motion are derived and implemented using a recursive propagation algorithm. Two different dynamic resolution of redundancy schemes, the centralized Jacobian method and the distributed virtual force method, are proposed to optimize the actuating forces. Finally, distributed dynamic control algorithms provide an efficient modular implementation of the control architecture for a large family of configurations.     

<Emphasis Type="Italic">HumanPT</Emphasis>: An Open-source,HumanPT Architecture-based,Robotic Application for Low Cost Robotic Tasks

In this paper, first HumanPT architecture for low cost robotic applications is presented. HumanPT architecture differs than other architectures because it is implemented on existing robotic systems (robot  robotic controller) and exploits the minimum communication facilities for real-time control that these systems provide. It is based on well-known communication methods like serial communication (USB, RS232, IEEE-1394) and windows sockets (server–client model) and permits an important number of different type of components like actuators, sensors and particularly vision systems to be connected in a robotic system. The operating system (OS) used is Microsoft Windows, the most widely spread OS. The proposed architecture exploits features of this OS that is not a real-time one, to ensure – in case that the robotic system provide such a facility – control and real time communication with the robotic system controller and to integrate by means of sensors and actuators an important number of robotic tasks and procedures. As implementation of this architecture, HumanPT robotic application and experimental results concerning its performance and its implementation in real tasks are provided. HumanPT robotic application, developed in Visual C++, is an integrated, but simultaneously an open-source software that can be adapted in different types of robotic systems. An important number of robotic tasks or procedures including sensors and particularly vision systems can be generated and executed. Small enterprises by means of the proposed architecture and the open source software can be automated at low cost enhancing in this way their production.     

A Real-Time, Hierarchical, Sensor-Based Robotic System Architecture

A robotic system architecture is presented and its real-time performance, when used to control a robotic gripper system for deformation-free handling of limp material, is evaluated. A major problem to be overcome has been the integrability and compatibility issues between various components of the developed system. The software and hardware protocols and interfaces developed to control and coordinate the subsystem operations and interactions are presented. The performance of the developed real-time, hierarchical, sensor-based robotic system architecture is found to meet and satisfy a set of system operational constraints and demands as dictated by the industry.     

基于ARM Linux平台的CAN设备驱动程序设计与实现

针对移动机器人控制系统在实时性、可靠性方面的要求,提出了基于CAN总线的分布式控制系统方案,介绍了在核心数据处理单元S3C2410上扩展CAN总线设备的硬件接口设计,详细讨论了嵌入式ARM Linux上驱动程序开发的一般方法,以及CAN设备驱动程序的设计方法和具体实现。经实验证明,此系统结构简单,稳定性和可靠性强。     

A Constraint-Based Robotic Soccer Team

It is a challenging task for a team of multiple fast-moving robots to cooperate with each other and to compete with another team in a dynamic, real-time environment. For a robot team to play soccer successfully, various technologies have to be incorporated including robotic architecture, multi-agent collaboration and real-time reasoning. A robot is an integrated system, with a controller embedded in its plant. A robotic system is the coupling of a robot to its environment. Robotic systems are, in general, hybrid dynamic systems, consisting of continuous, discrete and event-driven components. Constraint Nets (CN) provide a semantic model for modeling hybrid dynamic systems. Controllers are embedded constraint solvers that solve constraints in real-time. A controller for our robot soccer team, UBC Dynamo98, has been modeled in CN, and implemented in Java, using the Java Beans architecture. A coach program using an evolutionary algorithm has also been designed and implemented to adjust the weights of the constraints and other parameters in the controller. The results demonstrate that the formal CN approach is a practical tool for designing and implementing controllers for robots in multi-agent real-time environments. They also demonstrate the effectiveness of applying the evolutionary algorithm to the CN-modeled controllers.     

基于SOA的物流信息系统架构研究

企业的信息系统往往涉及多个不同的应用子系统,而且系统的实现平台和通讯方式也不同,各子系统之间的集成是企业实现信息化、提高竞争力的关键。提出一种基于SOA的物流信息系统的架构模型并加以分析,以解决物流信息系统的有效信息整合的问题和系统业务变化适应能力差的缺陷。     

Configuration selection for reconfigurable control of piecewise affine systems

In this paper, the problem of configuration selection, i.e. sensor/actuator placement for piecewise affine (PWA) systems subject to both sensor and actuator faults is considered. A method is proposed that provides a tool for the design phase to decide about the optimal placement of sensor/actuators where the reconfigurability of the system subject to sensor and actuator faults is also taken into account. Using a lattice of possible configurations (sensor/actuator placements), the reconfigurability of the system subject to faults for each configuration is evaluated and based on that one can draw conclusions about the reconfigurability of the system and the optimal configuration in the architecture design phase. A reconfigurable control must ensure stability of the reconfigured system and, if possible, a graceful degradation in the performance. Therefore, in the proposed reconfigurability analysis, we consider both stabilisability and performance of the system. The efficiency of the proposed method is demonstrated in several numerical examples.     

Implementation of real-time distributed control for discrete event robotic systems using Petri nets

This article presents a systematic method of modeling and implementing real-time control for discrete-event robotic systems using Petri nets. Because, in complex robotic systems such as flexible manufacturing systems, the controllers are distributed according to their physical structure, it is desirable to realize real-time distributed control. In this article, the task specification of robotic processes is represented as a system control-level net. Then, based on the hierarchical approach, it is transformed into detailed subnets, which are decomposed and distributed into the local machine controllers. The implementation of real-time distributed control through communication between the system controller and the machine controllers on a microcomputer network is described for a sample robotic system. The proposed implementation method is sufficiently general, and can be used as an effective prototyping tool for consistent modeling, simulation, and real-time control of large and complex robotic systems.     

Reconfigurable Control Structure for Robots in Assembly

The increased use of changeable characteristics in modern manufacturing and robotic systems and applications call for improved system control design that offers some degree of reconfigurability. The need for control reconfiguration of robotic systems arises due to some inherent characteristics of the robotic system, variations of robot parameters due to environmental changes, major task changes typical in production changeover or manufacturing system reconfiguration, or geometry changes due to the reconfiguration of modular manipulators. In this paper, a reconfigurable controller, the Supervisory Control Switching System (SCSS), is proposed to meet the new on-line demands for changeability in robotic systems. The SCSS is capable of selecting the most suitable controller for a particular task or situation, from separate controllers designed a priori. The applicability and effectiveness of the developed switching control scheme have been illustrated through computer simulations of an AdeptOne SCARA manipulators carrying out assembly tasks.     

IoT智能设备安全威胁及防护技术综述

伴随着物联网的产生和发展,IoT智能设备越来越多地出现,其大规模普及的同时,也给用户个人资产安全与隐私保护带来了极大地冲击和挑战。本文围绕智能设备,基于智能设备终端、云服务端和用户控制终端三端系统架构,综述目前智能设备安全威胁的主要来源和技术攻击手段,并针对性地梳理已有防护技术和安全研究现状。然后,针对现有IoT智能设备安全防护体系缺失和安全设计不足的问题,本文讨论提出了全生命周期的IoT智能设备系统防护模型设计思路。