巡线机器人延迟容忍传感器网络数据传输策略

巡线机器人延迟容忍传感器网络(delay tolerant mobile sensor networks for inspection robot,DTMSNR)用于输电线路巡线机器人远程电网数据收集,具有节点稀疏、异构、随机移动性、间歇连通性和延迟容忍性.针对传统传感器网络数据传输算法机器人数据传输成功率低与网络可靠性差等问题.提出一种基于巡线机器人位姿信息的数据传输(mobile robot position-based delivery,MPD)策略.为准确计算巡线机器人网络位姿信息,建立机器人路径约束随机运动模型.MPD采用机器人相对网络位姿信息计算传输概率,进行消息传输路径选择.对网络异构消息引入机器人消息优先传输、消息失效机制进行消息队列管理.仿真实验表明,相较现有的几种延迟容忍传感器网络(delay tolerant mobile sensor network,DTMSN)数据传输策略,针对巡线机器人网络MPD能在适当的传输能耗下达到更高的传输成功率与更低的传输延迟.      

矿区废弃地移动机器人全覆盖路径规划

矿区废弃地为室外大型非结构化环境,包含多种类型的障碍物且存在诸多不确定性因素,给移动机器人全覆盖路径规划造成了极大的困难。本文使用牛耕式单元分解法结合生物激励神经网络算法完成移动机器人对矿区废弃地的全覆盖路径规划。首先,针对矿区废弃地已知环境,采用牛耕式单元分解法对复杂环境做出区域分解,将具有综合复杂性的地图分解为多个不含障碍物的子区域;然后,根据子区域的邻接关系构建无向图,采用深度优先搜索算法确定子区域间的转移顺序;最后,采用生物激励神经网络算法确定子区域内部行走方式以及子区域间路径转移。仿真结果表明,生物激励神经网络算法在解决机器人路径转移问题方面比其他路径规划算法更高效,所得的方法能够处理复杂的非结构化环境,完成废弃矿区移动机器人的覆盖路径规划。      

面向六关节机器人的位置域控制

多轴联动下的串联多关节工业机器人在空间轨迹运动时,在时间上保证各关节轴单独具有良好的跟踪性能,而由于机械电气的迟滞效应,并不能完全保证理想的轮廓轨迹,这说明各个伺服轴的运动在几何空间中的同步非常重要。针对运动指令与实际位置之间的迟滞所带来的机器人末端轮廓精度不高的问题,本文结合工业机器人现有的运动学和动力学以及传统的PID控制理论,研究了六关节机器人位置域控制算法。将机器人空间轮廓轨迹的控制,通过采用主?从运动关系实时建立的方法,将时域中的各个伺服关节的同步控制方法,变换到位置域的各个伺服关节的主?从跟随的控制方法,在实现位置域的同步控制的同时,引入基于位置域的PD控制,减少了主?从跟随控制的跟随误差,从而整体提高机器人末端的轮廓运动精度。该方法在Linux CNC(Computerized Numerical Control)数控系统上,以某公司HSR-JR605机器人为对象进行了实验,证明采用位置域控制方法对六关节机器人空间运动轨迹精度的提高有积极作用。      

一种基于遗传算法参数优化的改进人工势场法

人工势场法是一种简单有效的移动机器人路径规划算法.针对传统人工势场法在路径规划中的一类目标点不可达问题,提出了一种在局部最小点改变斥力角度和设定虚拟最小局部区域的解决方案,同时采用遗传算法对改进算法中斥力改变角度以及虚拟最小局部区域的半径两个参数进行优化.仿真实验说明本文所提算法能在起点和终点之间规划出一条简捷、光滑和安全的路径.      

面向三维复杂焊缝的焊接机器人焊缝跟踪方法

机器人焊接技术具有质量稳定、效率高等特点,为实现空间内的三维复杂焊缝跟踪,提出基于分段扫描、滤波、特征点采集、路径规划的焊缝四步跟踪方法。通过安装于焊接机器人末端的激光传感器,以分段扫描方式连续多段采集焊缝数据;为提高跟踪精度,采用组合滤波的方式修正数据,有效降低焊件表面毛刺、数据失真和噪声等影响;通过特征点采集与坐标系标定确定焊接点;最后结合焊接机器人路径规划获得空间焊接路径。对二维S型焊缝与三维复杂焊缝进行了实验研究,结果表明提出的四步焊缝跟踪方法可形成完整的焊接路径,两种焊件平均跟踪误差约为0.296 mm和0.292 mm,满足机器人焊接跟踪误差低于0.5 mm的精度要求。表明所提出焊接跟踪方法的有效性,可为复杂焊缝的高精度跟踪和自动焊接研究提供有益参考。      

高速公路绿篱修剪机器人手臂避障路径规划

针对非结构环境下高速公路绿篱修剪机器人手臂实时准确避障问题, 提出一种基于扰动人工势场法的避障路径规划解决方法.根据绿篱隔离带与障碍物分布情况, 设计智能修剪机器人执行机构, 构建包络障碍物简化模型, 分析机械臂与障碍物的碰撞条件, 求解机械臂在修剪过程中的避碰空间.引入斥力场调节策略来优化势场模型, 建立斥力场扰动机制调整斥力影响方式, 消除传统算法中的局部极小点、目标不可达等现象.在避碰空间内, 应用扰动人工势场法对机械臂进行路径规划仿真, 仿真结果表明, 机械臂跳出局部极小点, 灵活顺利避障, 成功抵达目标点, 验证了该方法的有效性和可行性.      

高压输电线路带电检修机器人作业臂运动优化

针对完全依靠人工带电拧紧高压输电线路引流板螺栓作业效率低、劳动强度大、高空和高电压危险的问题,研制了一种双臂和双机械手的引流板螺栓拧紧带电检修机器人.通过各关节的轨迹规划双作业臂及其末端由初始位姿运动到螺栓螺母对准状态是机器人顺利完成检修作业的关键.针对现有多项式插值关节轨迹规划依赖于轨迹端点时刻,导致该方法实用性差及关节轨迹运动过程中忽略驱动机构对关节状态制约的问题,提出基于Min-Max时间标准化的改进多项式插值关节轨迹规划方法.基于该方法,以关节运动时间为优化对象,提出满足关节轨迹运动全程约束条件的关节运动时间区间范围的求取方法.通过仿真实验验证了改进算法关节轨迹仅与轨迹端点状态及运动时间有关,而与端点时刻无关,进一步淡化轨迹端点时刻对关节轨迹的影响,提高算法的实用性.通过选取最优关节轨迹运动时间,满足了关节状态全程状态约束要求,从而避免超调的发生,优化了各关节运动轨迹,提高了关节运动的效率.最后通过现场试验进一步验证改进算法的工程实用性.      

露天矿电铲铲装移动轨迹规划研究

自主铲装技术是未来露天矿智能开采的核心环节之一。为提高电铲在自主铲装过程中的工作效率,提出了一种电铲铲装移动路线的优化方法。在已知电铲工作区域的基础上,基于贪婪算法规划出电铲移动次数最少的作业位置集;在给定起始挖掘点的基础上,使用遗传算法生成电铲铲装移动最短路径,并规划每个位置对应的挖掘区域;最后结合电铲作业的相关几何约束,进一步优化电铲移动路径并调整相应挖掘区域规划,形成最终的电铲作业最优轨迹。试验结果表明,生成的电铲移动路径总距离短,挖掘区域规划符合实际生产要求,该研究结果可为自主铲装电铲的移动轨迹规划提供指导。     

考虑通讯遗传性的探测机器人轨道搜索研究（英文）

Rovers,such as MER and MSL,are sent to Mars and the geology search for the surface is performed by JPL /NASA[1]. MER and MSL are large- sized R overs and have the communication system which can perform direct communication with ground stations on the earth. R over needs to consist of Mars sample return missions currently assumed by this research very lightweight. In this case,the direct communication with the earth of the small rover is difficult. Therefore,communication of rover cannot but serve as a communication system through a lander. Moreover,since it is the opportunity of precious sample extraction,it is necessary to extract the topsoil of various places,and the sample of rock efficiently. Then,it is inquiring about the exploration system using two or more lightweight rovers. This study is about a method of a path planning for a robot( rover)exploration to somehowthe robot can get to the target place,facing fewer problems and also about a way of transmission for do not have a loss of communication due to obstacles. We assume a robot has a transmission device and ensure the communication transmissibility by putting it in the prescribed place on the path. In the path planning,candidate paths including the transmission device position by R R Tare generated and path optimization is carried out by evaluation function. In the simulation,the path taking account of communication transmissibility is planned with using transmission device. The proposed path planning method is confirmed by simulation.     

基于编码器与NFC修正融合的带式输送机轨道式巡检机器人定位方法

轨道式巡检机器人的高精度定位技术是带式输送机智能化巡检的重要研究方向之一,而矿用带式输送机距离超长,工作环境复杂,严重影响巡检机器人的定位精度。针对目前的轨道式巡检机器人定位技术在矿用带式输送机巡检领域存在的问题,提出了基于编码器和NFC双传感器修正融合的高精度定位方法。分析带式输送机轨道式巡检机器人轨道与环境特性对编码器系数的影响,提出轨道分段原则。利用机器人搭载的编码器数据反馈特点,构建编码器递推定位方法。通过机器人运行的历史数据,对编码器系数进行分段分方向修正,并提出基于递推最小二乘的编码器系数修正方法,以提高编码器对轨道环境的适应性。在此基础上,根据机器人所在轨道分段的位置不同,在段端基于卡尔曼滤波算法实现编码器和NFC数据融合,在段内利用分段分方向修正系数与编码器信息进行递推定位,实现轨道式巡检机器人连续高精度的定位。针对所提方法搭建了实验平台并进行了实物测试,实验结果表明,相较于编码器定位、RFID定位和两者融合定位三种传统定位方式,基于编码器和NFC的修正融合定位算法能够有效提高轨道式巡检机器人定位对轨道环境的适应性,同时提高轨道式巡检机器人的定位精度。      

Multisegment Large Space Robot: Concept and Design

A multisegment robot concept is discussed for use in space-based construction operations. The multistage robot is envisioned as a member of a class of large space robots, or space cranes, used in the assembly of advanced spacecraft. The multisegment robot involves a collection of common bodies, or segments, that are pinned together to form a snake-like, or train, configuration. The notion of shape function is used to position this serpentine robot to a prescribed location and orientation. An n-body simulation program is developed based on a Newton-Euler form of the equations of motion of the robot. Motion tests are included that compare experimental results with pertinent analytical predictions. This paper attempts to present a paradigm of theoretical and experimental study in which complex mathematical algorithms are realized in a simple physical model through an appropriate design procedure.     

Integrating Robot Mapping and Augmented Building Simulation

This paper discusses a framework for integrated augmented reality (AR) architecture for indoor thermal performance data visualization that utilizes a mobile robot to generate environment maps. It consists of three modules: robot mapping, computational fluid dynamics (CFD) simulation, and AR visualization. The robot mapping module enables the modeling of spatial geometry using a mobile robot. In order to generate steady approximations to scanned three-dimensional data sets, the paper presents a novel “split-and-merge expectation-maximization patch fitting” (SMEMPF) planar approximation method. It allows for precise adjustment of patches independent from the initial model. The final result is a set of patches identifying planar macrostructures that consist of a collection of supported tiles. These patches are used to model the spatial geometry under investigation. The CFD simulation module facilitates the prediction of building performance databased on the spatial data generated using the SMEMPF method. The AR visualization module assists in interactive and immersive visualization of CFD simulation results. Such an integrated AR architecture will facilitate rapid multiroom mobile AR visualizations.     

Construction Robot Force Control in Cleaning Operations

Basic surface treatment tasks on construction sites that can be performed by robots include the spraying, cleaning, and finishing of surfaces. In the present paper, a construction robot is proposed for accomplishing a variety of cleaning tasks in construction. Specifically, the force‐control problem in cleaning a surface is studied. The paper shows that a force sensor can be used not only to monitor the force acting at the contact points, but also to identify the uncertainties of the unstructured construction environment. A different formulation for the external force is presented. With this formulation, the external force on the end‐effector is presented as a function of the contact force, contact torque, and constraint conditions, but not the actuated torque in the joint space. Therefore, the force‐control problem is simplified to compensate for the external force and to exert a desired force. One advantage of this approach is that the original PID position control loop of an industrial robot is retained so that the time‐consuming computed torque method is avoided. The proposed control scheme can be applied to numerous cleaning tasks with hard contact regardless of the different nature of the surface.     

Path Planning and Control for Free-Flying Inspection Robot in Space

This paper describes a prototype robot called AERCam and the necessary path planning and control for its space inspection applications. The robot is the first generation of a free-flying robotic camera that will assist astronauts in constructing and maintaining the space station. The robot will provide remote views both to astronauts inside the space shuttle and the future space station and to ground controllers. The first part of the paper describes a planar robot prototype autonomously moving about an air-bearing table. The second part of this paper introduces a method for determining paths in three dimensions for efficient fuel use. Finally, this paper describes the software simulation of the path planner with the future space station.     

Research on kinematic parameters identification of robotic equipment used in steel-making area

Steel-making areas are harsh operation environments that involve many highly dangerous manual operations. The use of robotic equipment technology is a key step toward intelligent manufacturing in steel-making areas. The steel-making environment is not suitable for long-term debugging work,so in order to reduce the debugging workload,it is an important method to improve the absolute position accuracy of the robot. This paper addresses the identification of kinematic parameters of the 7-DOF robotic equipment used in a continuous casting area at Baosteel. The purpose of this work is to apply compensation measures during the application process of the robotic equipment to improve its accuracy and stability,while shortening the on-site debugging time.     

Three-dimension path planning for UAV using improved A* algorithm in complicated threat environment

In order to improve the battle effectiveness of the unmanned aerial vehicle (UAV) under the in- creasingly complex threat environment, a three-dimension path planning method based on an A* al- gorithm is proposed and simulated in this paper which makes the UAV satisfy requirements of differ- ent missions. At first, the digital map information is processed with an integrated terrain smoothing algorithm, and a safe flight surface which integrates the vehicle dynamic is built and added on the terrain, and then, models of the complicated threats are established and integrated into the digital terrain. At last, an improved A* algorithm is used to plan the three-dimension path on the safe sur- face, and then smooth the path. Simulation results indicate that the approach has a good perform- ance in creating an optimal path in the three-dimension environment and the path planning algorithm is more simple, efficient and easily realized in the engineering field.     

基于关键链的地下矿采掘计划编制优化方法

为了解决传统地下矿采掘计划编制中存在的最短工期不可控、作业成本较高的问题,以最大化减少工期为目标,提出了一种资源约束下的采掘计划关键路径自动搜索方法。首先,根据作业之间的逻辑衔接关系自动生成采掘计划网络图,并为其添加资源约束;然后,根据工序顺序表和计划衔接表中的信息确定每个采场执行的工序,且不同工序按照不同的资源配置规则来分配优先级;最后,更新网络图,以当前作业为初始节点,采用改进的深度优先搜索算法遍历有向图,递归查找全部采掘路径,其中耗时最长的路径为关键路径,即资源约束下的最短工期。研究结果表明：运用资源约束下的关键路径自动搜索方法来实现采掘计划优化,缩短了计划编制的时间和采掘计划的工期,降低了作业成本。以乌拉特后旗紫金矿业三贵口矿山采掘计划编制为例,证明该方法能够有效优化矿山采掘计划。     

基于LQR-QPSO的地下铲运机控制参数优化研究

现代控制理论是实现地下铲运机路径跟踪控制的重要技术之一。目前,控制算法应用的难点在于参数的选取和整定。为解决控制参数整定问题,提出应用量子行为粒子群优化算法（QPSO）对基于线性二次型调节（LQR）的状态反馈控制器进行参数优化,实现对地下铲运机精准、稳定的路径跟踪控制。状态反馈控制器基于铲运机的误差动力学模型得出,优化后的路径跟踪控制最大横向位置偏差低于0.23 m。仿真试验结果表明：相较于标准粒子群优化算法,QPSO算法优化的路径跟踪控制器的最大横向位置偏差减小53.4%,优化效果更好、成功率更高。     

New Method for Calculating Path Float in Program Evaluation and Review Technique (PERT)

The path float use in the network is an effective method used to cope with various uncertainties existing within the construction. However, the current path float calculating method may bring misleading information to the managers on site and then cause project duration risk in the construction. The purpose of this paper is to present a new method, which calculates the noncritical path float in the program evaluation and review technique (PERT), to copy with the uncertainties within the network implementation, and to reduce the misleading information. An example network was analyzed with the new method, the results showed the consistent path float under required completion probability and required duration. The new path float concept will bring useful planning information to the managers and the planners in the construction.     

机器人负载的动力学参数辨识

为解决机器人末端负载的时变性给高速运动的机器人带来控制精度降低的问题,研究了参数差值法、力矩求解法、全局参数辨识法的机器人末端负载动力学参数辨识的方法,以提高末端负载的辨识精度.得到的负载动力学参数用于动力学控制以提高机器人动态精度.通过建立拉格朗日动力学线性辨识模型,以最优激励轨迹进行实时数据采集,采样数据经过低通滤波及中心差分的处理后,代入相应的负载辨识方程式,并用加权最小二乘法解决线性方程组,可辨识到不同负载的动力学参数.实验验证了负载辨识方法的可行性.