分布式多交互虚拟场景渲染的协同控制

针对分布式多交互虚拟现实系统场景渲染的协同控制问题,构建了基于分布式开放灵活的多交互虚拟现实系统结构,将协同交互技术集成到虚拟现实系统设计中,设计包含控制平台、网络服务平台和渲染平台的系统架构,提出了一种基于OGRE的分布式多交互实时协同渲染方法。完成了单个控制节点对应多个渲染节点时,多个渲染节点渲染场景的实时同步,以及多个控制节点在同一场景中的协同、交互。此研究成果应用于河北大学虚拟漫游交互控制平台,具有广阔应用的前景。     

异构遥操作仿人机械臂灵巧作业控制

针对异构遥操作系统在作业过程中,从端机器人控制灵活性受限的问题,提出了一种基于主从工作空间与速度的双模比例映射控制方法.限定主从端的操作空间,并采用比例度映射的方式实现主端对从端运动控制.采用Phantom Omni力反馈设备与Kinova仿人机械臂分别作为遥操作系统的操作主端和工作从端,构建了双边控制系统及实物抓取实验,结果表明:在映射的工作空间内,主端能够有效完成对从端的运动控制;在实物抓取实验过程中,主端能够有效对从端实现作业控制.所设计的系统满足控制精度需求,操作灵活.     

事件触发下多智能体系统一致性的干扰主动控制

本文针对带有外部干扰影响的多智能体系统,研究了基于事件触发机制下的多智能体系统Leader-Following一致性的控制问题.采用干扰观测器来估计系统中存在的干扰,并设计了基于事件触发机制的干扰主动控制方案.运用现代控制理论和矩阵论等工具分析了多智能体协同运动算法得到了多智能体系统在分布式事件触发机制下的一致性收敛条件,并且分析了本文设计的分布式事件触发机制的时间间隔存在正的下界.最后通过计算机仿真,验证了本文所提控制算法的有效性.     

传感器网络分布式事件触发多目标估计

本文主要研究无线传感器网络中目标数目已知且固定的一类分布式多目标跟踪问题,提出了一种完全分布式的基于事件触发的测量和通信策略使得每个节点在不需要全局信息的情况下实现估计误差和能量消耗之间的平衡.监测区域存在多个移动目标,传感器能否测量到单个目标由事件触发测量机制和节点的测量半径来综合决定.基于节点和邻居的信息采用k-means聚类算法来解决数据关联问题,同时提出了基于最小迹原则的一致性卡尔曼滤波算法.从理论上证明了该事件触发策略不仅在性能指标上优于基于时间触发的算法,而且在网络中如果存在节点对多目标协同可观,系统估计误差在均方意义下是稳定的.最后给出了仿真例子验证了该算法的有效性和可行性.     

面向沉浸式多人射击游戏的分布式设备驱动系统设计与实现

沉浸式多人射击游戏利用高度沉浸的画面及蓝牙体感交互设备来提升游戏体验。单台PC同时连接的蓝牙体感交互设备数量有限,不能满足沉浸式游戏娱乐项目多达几十位玩家同时游戏的要求。采用多个设备连接节点,设计并实现一个分布式设备驱动系统对交互设备进行分布式管理。系统在应用VRPN的基础上引入设备服务器节点来负责与游戏通信,降低了游戏与多个设备连接节点通信带来的开发复杂度;通过定义数据映射层实现游戏逻辑与交互设备类型的低耦合。实验结果表明应用该系统对游戏性能影响很小,能保证玩家与游戏的实时交互。     

事件触发双模分布式预测控制

本文针对有界扰动作用下的线性离散大系统,提出了事件触发双模分布式预测控制设计方法.利用输入状态稳定性(input-to-state stability,ISS)理论建立了仅与子系统自身信息相关的事件触发条件.只有子系统满足相应的事件触发条件,才进行状态信息的传输和分布式预测控制优化问题的求解,并与邻域子系统交互最优解作用下的关联信息.当子系统进入不变集时,采用状态反馈控制律进行镇定,并与进入不变集的邻域子系统不再交互信息.分析了算法的递推可行性和系统的闭环稳定性,给出了扰动的上界.最后,通过车辆控制系统对算法进行仿真验证,结果表明,本文提出的方法能够有效降低优化问题的求解次数和关联信息的交互次数,节约计算资源和通信资源.     

DoS攻击下网络化控制系统基于观测器的记忆型事件触发预测控制

本文研究了DoS攻击下网络化控制系统记忆型事件触发预测补偿控制问题. 首先, 由于网络带宽资源有限 和系统状态不完全可观测性, 引入了记忆型事件触发函数, 为观测器提供离散事件触发传输方案. 然后, 分析了网络 传输通道上发生的DoS攻击. 结合上述记忆型事件触发方案, 在控制节点设计一类新颖的预测控制算法, 节省网络 带宽资源并主动补偿DoS攻击. 同时, 建立了基于观测器的记忆型事件触发预测控制的闭环系统, 并且分析稳定性. 通过线性矩阵不等式(LMI)和Lyapunov稳定性理论, 建立了控制器、观测器和记忆型事件触发矩阵的联合设计方案, 并验证了该方案的可行性. 仿真结果表明, 该方案结合记忆型事件触发机制可以有效补偿DoS攻击, 节约网络带宽 资源.     

基于数据动态冗余的分布式并行系统重构机制

设计高可用分布式并行数据库系统,系统重构不能只局限于单节点状态变化,为此提出了基于数据动态冗余的分布式并行系统重构机制。该机制通过相关事件触发系统检测,及时分布采集节点状态信息,借助数据的再生和转移,在各节点并行完成负载失衡和节点状态变化下的系统自动重构。实际应用表明,该机制解决了多节点状态同时变化的系统资源和数据资源的重构问题,保证了数据库系统的高可用性。     

事件触发下随机非确定线性多智能体的指数同步

研究随机非确定线性多智能体系统在有向拓扑连接下的指数同步问题,为减少不必要的网络带宽资源的浪费,提出一种基于事件触发控制的协议。根据组合测量对系统中的所有节点设计相应的事件触发函数,使得节点之间的控制信号更新仅在事件触发时刻进行。基于Lyapunov稳定性理论和M矩阵理论,得到了多智能体系统指数同步结论,并给出了同步的收敛速度。同时,理论排除了事件触发控制过程中的芝诺（Zeno）现象。数值仿真结果进一步验证了理论分析的有效性。     

一种虚拟试验系统中的多节点信息交互机制

大型分布式虚拟试验系统利用局域和广域网络,将分布在不同节点的虚拟设备、实物设备进行互联,共同协作完成先进装备的虚拟试验任务.为提高系统的实时性,通过试验平台将相应数据及设备状态,快速有效地协调其信息交互是支撑虚拟试验运行的关键.为实现试验功能、试验运行和底层通信三者分层管理;消除交互双方在时间、空间、控制方面耦合;减少网络上冗余信息传递,提高交互效率,提出了一种多节点信息交互机制.方案采用层次式体系结构、基于主题的订购/发布模型、结合可靠单播与局域组播通信,对面向大规模虚拟试验的应用系统开发具有参考价值.     

Scaled teleoperation system for nano-scale interaction and manipulation

In this paper, a visual and haptic human–machine interface is proposed for teleoperated nano-scale object interaction and manipulation. Design specifications for a bilateral scaled tele-operation system with slave and master robots, sensors, actuators and control are discussed. The Phantom? haptic device is utilized as the master manipulator, and a piezoresistive atomic force microscope probe is selected as the slave manipulator and as topography and force sensors. Using the teleoperation control system, initial experiments are realized for interacting with nano-scale surfaces. It is shown that fine structures can be felt on the operator's finger successfully, and improved nano-scale interaction and manipulation using visual and haptic feedback can be achieved.     

A heuristic feedback control theory based interactive expert system – RSCD

In this paper, we focus on the difficulties of resource recycling problems relating to the used Iron and/or Aluminum cans. Based on the feedback control theory and combining with micro-chip processor, sensors, phonic chip, oil-compressor and mechanism technology, we design an interactive resource recycling Expert System –“Recycling Squeezed Cans Device” (RSCD) and the proposed interactive RSCD is an automaton device and achieves the following attractive functions: (1) Automatic guiding and detecting system, (2) Security protection system, (3) Automatic classification system, (4) Automatic squeezing system, (5) Automatic distributed collection system, (6) Automatic refund system. We design a heuristic feedback control algorithm imbedded in processor chip and the proposed interactive RSCD has the following special features: the Automatic guiding and detecting system using phonic chip associated with sensors and panel light indicator can easily lead users to operate the RSCD, the Security protection system using sensors associated with electromagnetic switches and safety mechanism designs can protect users harmless and the RSCD as well, the Automatic classification system using sensors associated with mechanic device and the design relating to rotating stepping motor can precisely discriminate whether the recycling used cans material belongs to metal or nonmetal type, and moreover, classify Iron or Aluminum type, the Automatic squeezing system using oil-compressor associated with sensors, and the design as to the compressing device can rapidly squeeze the recycling used cans into under about 1/5 of its original volume, the Automatic distributed collection system using sensors associated with stepping motor, micro-switches, and the design concerning the collection device can precisely distributed collect the recycling compressed cans into two different cans collection tanks, and the Automatic refund system using micro-switches associated with counter, and the design as to the rotating withdrawing device quickly give back the desired refunds. We install the proposed interactive RSCD in several different areas in public and make numerous simulations, the test results show that the proposed interactive RSCD is efficient for handling the resource recycling problems as to the recycling used Iron and/or Aluminum cans.     

Hand Interface in Traditional Modeling and Animation Tasks

3-D task space in modeling and animation is usually reduced to the separate control dimensions supported by conventional interactive devices.This limitation maps only partial view of the problem to the device space at a time,and results in tedious and unnatural interface of control.This paper uses the DataGlove interface for modeling and animating scene behaviors.The modeling interface selects,scales,rotates,translates,copies and deletes the instances of the primitives.These basic modeling processes are directly performed in the task space,using hand shapes and motions.Hand shapes are recognized as discrete states that trigger the commands,and hand motion are mapped to the movement of a selected instance.The interactions through hand interface place the user as a participant in the process of behavior simulation.Both event triggering and role switching of hand are experimented in simulation.The event mode of hand triggers control signals or commands through a menu interface.The object mode of hand simulates itself as an object whose appearance or motion influences the motions of other objects in scene.The involvement of hand creates a diversity of dynamic situations for testing variable scene behaviors.Our experiments have shown the potential use of this interface directly in the 3-D modeling and animation task space.     

网络化热方程的集中事件触发控制

本文对热方程建模的分布式参数化多智能体系统进行研究,设计了基于事件触发控制下的一致性边界控制器,将网络化热方程的状态驱动到相同的稳定状态.其中每一个子系统的边界信息能被测量,并且所有的智能体由无向静态拓扑连接.事件触发控制器由以下两部分组成:一是基于网络拓扑的边界局部交互作用,驱动所有子系统达到相同的状态;二是由事件触发条件建立的触发时刻.本文证明了在事件触发的边界一致性控制下两个连续触发时刻之间存在最小停留时间以避免Zeno现象;同时利用李雅普诺夫函数分析并保证了闭环系统的稳定性和适定性.最后,给出了由5个热方程组成的多智能体系统的仿真算例,结果证实了本文所设计事件触发控制器的真实性.     

A virtual 3D interactive painting method for Chinese calligraphy and painting based on real-time force feedback technology

A novel 3D interactive painting method for Chinese calligraphy and painting based on force feedback technology is proposed. The relationship between the force exerted on the brush and the resulting brush deformation is analyzed and a spring-mass model is used to build a model of the 3D Chinese brush. The 2D brush footprint between the brush and the plane of the paper or object is calculated according to the deformation of the 3D brush when force is exerted on the 3D brush. Then the 3D brush footprint is obtained by projecting the 2D brush footprint onto the surface of the 3D object in real time, and a complete 3D brushstroke is obtained by superimposing 3D brush footprints along the painting direction. The proposed method has been successfully applied in a virtual 3D interactive drawing system based on force feedback technology. In this system, users can paint 3D brushstrokes in real time with a Phantom Desktop haptic device, which can effectively serve as a virtual reality interface to the simulated painting environment for users.     

A behavioural test-bed using a dataglove input device

In many cases, traditional hand-drawn animation has been replaced by computer technology. Computer-supported approaches can essentially be characterised as two interface types: keyframing and coding. However, these two interface types offer limited editing ability for scene animation applications, which usually consist of a large testing space of similar behaviours. The testing cycle, using either predefined keyframe sequences or general coding interface, tends to be costly and time consuming. This paper reports work which uses the DataGlove device to support and test variable schooling behaviours of fish in a virtual marine world. This is put forward as a representative example of scene animation. The glove-based interface places the user as a participant in the behavioural simulation process. In the work, hand shapes and motions are recognised and used for either event triggering or role switching. The specific shapes and motions of the user's hand trigger control signals or commands through a menu-based interface. The hand can itself be used to simulate an object in the scene. The object, which can be either static or dynamic, participates in the control process. Using hand movements in this way allows the user to interactively specify the paths of moving objects in the scene, and also creates a diversity of dynamic situations which can be useful for testing variable scene behaviours. The application presented in this paper looks at examples of controlling fish behaviour in a limited pond environment controlled by glove-based interaction.     

自适应事件触发网络化非线性系统滤波器设计

本文针对网络化非线性控制系统设计了基于自适应事件触发方案满足H_∞性能的模糊滤波器.第一,提出新的自适应事件触发方案来决定数据包是否需要传输到通信网络中,从而提高网络资源利用率;第二,运用模糊线积分的方法,构建模糊李雅普诺夫泛函,避免求解隶属函数的时间微分;第三,利用Wirtinger不等式及倒凸引理结合的技术,得到滤波误差系统满足H_∞性能的充分条件;第四,将滤波误差系统建模为时滞系统,在此框架下,实现自适应事件触发参数与滤波参数共同设计.最后,通过两个数值例子验证本文所提方法的有效性.     

基于事件触发机制的双编队车辆换道决策模型

针对由联网自动化车辆(connected and automated vehicle,CAV)组成的双编队车辆换道问题进行了研究,提出了一种基于事件触发的分布式换道决策模型.该模型针对双编队系统设计了一种编队内和编队间的一致性控制协议;同时,为了减少CAV车辆控制器的频繁更新,设计了一种基于组合测量方式的事件触发器,并给出Lyapunov函数证明了算法的稳定性且不存在Zeno行为.仿真结果表明,所设计的控制协议能够使双编队系统收敛一致,有效降低CAV控制器的更新频率,减少系统能耗.通过模型对比,在证明所提决策模型有效性的同时,系统能够更快地收敛.     

基于自适应事件触发和量化的时滞系统分布式滤波

研究基于自适应事件触发机制和量化的时滞系统分布式滤波问题,设计自适应事件触发机制,此触发机制不仅取决于滤波器自身最新释放数据和当前估计值,还取决于自身和邻居节点最新释放数据的误差。相较于固定参数事件触发,自适应事件触发参数根据滤波性能动态变化。考虑传感器精度和网络传输带宽优先,在数据传输前进行量化处理。构造Lyapunov函数并给出滤波误差系统均方指数稳定且满足l₂-l_∞性能指标的充分条件,设计带有数据量化的离散时滞系统分布式l₂-l_∞滤波器,并通过线性矩阵不等式方法求解滤波器参数。仿真实例说明设计的滤波器能够降低数据量化带来的影响,且自适应事件触发机制相较于固定参数事件触发,在保证滤波性能前提下能够降低数据传输频率,节约网络通信资源。     

基于CORBA事件服务的分布式对象组件设计与实现

该文在介绍事件服务机制的基础上,将CORBA事件服务封装成COM组件。利用此组件能够有效实现分布式对象组件设计,解决组件对象之间的通信问题,使分布式系统中的对象解耦。声纳测距传感器系统是一个分布式对象组件应用实例,具体验证了所提出的设计思想和方案是切实可行的。设计完成的应用COM组件可用于分布式控制系统。