新的多移动机器人任务协商模型

针对多机器人协商中缺少心智状态与实际任务执行能力、通信带宽拥挤导致的低实时性以及从协商历史中缺乏快速学习等问题,提出一种多移动机器人任务协商模型。首先,阐述了机器人基本运动形态;其次,为多机器人协商定义了基于π演算的心智状态(信念、目标、意图、知识更新等)与能力状态(协作、能力判断、任务分配等);再次,构建了多机器人协商模型,研究了协商周期、协商任务、协商效用估计、协商分配协议、学习机制等。最后在机器人足球比赛平台上验证了方法的有效性。     

Agent任务可视编程和单元组合重构

文中将机器人装配单元的各类设备定义为独立的Ａｇｅｎｔ,采用Ｐｅｔｒｉ Ｎｅｔ模型,为各Ａｇｅｎｔ的作业定义了有关操作的基本模型结构,作为基于多Ａｇｅｎｔ的模型库。通过对Ａｇｅｎｔ模型库元素的可视化组合重构,不仅可以实现机器人作业单元几何元素的重组,而且可以方便地实现作业任务的重组。     

一个任务导向的装配机器人多传感器系统方法

本文介绍了一个用于装配机器人的多传感器系统的设计思想和实现方案.提出了在装配任务导向下的监测任务规划模型,讨论了多物理传感器信息融合方法,多目标三层次感知信息决策模型,以及相应的实现系统层次结构.目的是在目标级上实现装配机器人系统的动态闭环.     

机器人装配作业控制技术

机器人装配作业是机器人应用的一个重要领域，装配机器人作为自动化技术，机构学，传感器技术，材料科学，信息处理等多学科综合而成为机器人研究的热点。对于扩大机器人的应用领域，其适应性极其重要。本文简要地介绍了装配机器人结构及其工作原理以及装配机器人被动适从和主动适从的实现问题，详细地介绍了机器人装配作业控制中的动力学问题以及不确定性问题，最后指出了装配机器人控制的努力方向。     

精密1号装配机器人控制系统的设计与实现

精密１号机器人是国家８６３计划智能机器人主题立项研制的一台ＳＣＡＲＡ结构的４轴装配机器人．它采用直接驱动技术，具有较高的运动速度和定位精度，配有高性能的视觉和力觉传感器．本文介绍了精密１号装配机器人控制系统的体系结构、设计思想和功能特点．精密１号机器人控制系统以Ｉｎｔｅｌ公司的ｉＳＢＣ３８６／１２系列计算机和ｉＲＭＸⅢ实时多任务操作系统为基础，采用上、下两级分布式计算机结构．控制系统除具有一般的机器人控制器的功能外，还具有用户多任务编程、可基于视觉和力觉传感器信息控制、离线编程和图形动画仿真等特性．应用这个系统控制精密１号机器人进行了装配作业的实验     

面向装配作业的多机器人合作协调系统

分布、自主、协调与合作是多机器人系统的发展趋势 ．本文作者在研究易于协调合作的多机器人系统的基础上,采用分层递阶和多Agent概念, 构造了一个装配系统——MROCAS系统．该系统具有任务自动建模分解,快速重组、良好柔性 、友好人机界面,各机器人具有一定自主能力等特点．它实现了在较复杂环境下快速完成装 配作业．     

零件图纸自动阅读与识别研究初步——视图分割

智能装配机器人的研究是世界性的研究项目之一，为了实现智能装配机器人对零件的操作，首先必须做到对零件图纸的自动阅读与识别。本文介绍了零件图纸的自动阅读与识别的处理过程，着重介绍了这一处理过程中的视图分割原理与采用的技术。     

动态环境下多机器人合作追捕研究

主要研究了多个自主型移动机器人合作追捕多个运动猎物的追捕—逃避问题. 从基于范例的推理缩小任务招标范围、引入辅助决策矩阵改善联盟决策两个方面对传统的合同网协议进行了改进,以减少任务协商过程中的通信开销,接着引入了联盟生命值、违约金等概念,在此基础上,实现了一种允许动态联盟的多机器人合作追捕算法. 仿真实验证明了所提算法的可行性和有效性.     

基于心智系数的多Agent合同网协作模型研究

在多Agent系统中,常用的协商模型为合同网协议。在分析了经典合同协议优缺点后,提出基于熟人模型和心智系数合同协议的多Agent协作模型。在系统构建过程中引入心智状态中的信任度、熟悉度、他信度、繁忙度等概念,提出心智系数的更新规则并设计实现基于心智的合同网模型的构建。最后以机器人足球比赛为背景,对协商过程进行模拟测试与结果分析,证实了该模型能在保证协商质量的基础上有效地降低协商的时间和通信量,实现多Agent系统的高效协作。     

任意凸形销孔零件及多销孔零件装配策略与实验研究

基于零件装配理论分析，本文提出了任意凸形销孔零件及多凸形销孔零件的装配策略，并开发了一个机器人装配系统，它由一个新研制的带有力功能机器人末端微操作器和ＰＵＭＡ５６２机器人组成，不同以往的设计，此微操作器主动调整与被动柔顺结合为一体，本装配系统能完成任意凸形销孔零件沿任意方向的装配作业，本文给出了典型的实验结果。     

Design and evaluation of P2P overlays for energy negotiation in smart micro-grid

The increasing availability of distributed renewable energy sources such as photo-voltaic (PV) panels has introduced new requirements for innovative power grid infrastructures. Information technologies provide new opportunities for developing techniques to optimize the energy usage by a new generation of smart-grids. Here we investigate an original solution that aims at maximizing the self-consumption within a neighborhood based on a collaborative approach. Distributed software agents plan and enforce the optimal schedule of consuming appliances according to the prediction of energy production by PV panels, the estimated energy profile of consuming devices and the user's preferences and constraints. Finally we focus on the performance evaluation of a negotiation protocol that allows agents to find a sub-optimal solution for the global schedule, comparing results obtained by a prototype implementation and experimenting different technologies.     

Linux下IKEv1和IKEv2协议的仿真分析

IETF对IKEv2协议的发布已经使IKEv2成为一个正式的RFC规范,正在逐步地取代IKEv1成为新一代互联网密钥交换标准.IK v2对IKEv1进行了全面的优化和改进.为了对比IKEv2与IKEv1两版协议的密钥协商特性,提出了Linux下IKEv2的一种实现方案,并且基于这种方案对两版IKE协议进行了仿真测试,根据测试结果分析比较了IKEv1和IKEv2的密钥协商效率.     

A Real-Time Negotiation Model and A Multi-Agent Sensor Network Implementation

This paper describes a negotiation model that incorporates real-time issues for autonomous agents. This model consists of two important ideas: a real-time logical negotiation protocol and a case-based negotiation model. The protocol integrates a real-time Belief-Desire-Intention (BDI) model, a temporal logic model, and communicative acts for negotiation. This protocol explicitly defines the logical and temporal relationships of different knowledge states, facilitating real-time designs such as multi-threaded processing, state profiling and updating, and a set of real-time enabling functional predicates in our implementation. To further support the protocol, we use a case-based reasoning model for negotiation strategy selection. An agent learns from its past experience by deriving a negotiation strategy from the most similar and useful case to its current situation. Guided by the strategy, the agent negotiates with its partners using an argumentation-based negotiation protocol. The model is time and situation aware such that each agent changes its negotiation behavior according to the progress and status of the ongoing negotiation and its current agent profile. We apply the negotiation model to a resource allocation problem and obtain promising results.     

Combining Cooperative and Non-Cooperative Automated Negotiations

Automated negotiation is a key issue to facilitate e-Business. It is an on-going research area and attracts attention from both research communities and industry. In this paper, we propose a multiple-stage co-operative automated negotiation architecture, including a sophisticated negotiation strategy and protocol, to resolve the agents' conflicts. This proposed architecture attempts to address the search for joint efficiency for negotiating agents in large and complex problem spaces using a co-evolutionary method. A game theoretic method is adapted to distribute the payoffs generated from the co-evolutionary method. The architecture supports interactions between the two methods to demonstrate that high-quality solutions can be found through their complimentary functions. Using the structure it is possible to refine and explore potential agreements through an iterated process. This article also reports some experimental results and discussions. Jen-Hsiang Chen obtained his MSc degree in Management of Information Technology from Sunderland University. He is a Ph.D. student within the Distributed Systems and Modelling Research Group in the School of Mathematical and Information Sciences at Coventry University. His research project is related to game theory and heuristic approaches in automated negotiation. Kuo-Ming Chao obtained both of his MSc and Ph.D. degrees from Sunderland University, UK. After getting his Ph.D. degree, he has been working at Engineering Design Centre, Newcastle University, UK as research associate. He joined School of Mathematical and Information Sciences, Coventry University as senior lecturer in 2000. He is currently the leader of Distributed System and Modelling Research Group within the school. His research interests include Multi-Agent systems, Web Services, and Grid Computing. Nick Godwin graduated in Mathematics at London University. He obtained a masters degree and a doctorate through the Mathematics Institute at Warwick University. Since that time he has worked at Coventry University, participating in a number of research projects associated with the application of Computing to Manufacturing. Recently he has been working with the Distributed Systems and Modelling Research Group in the School of Mathematical and Information Sciences at Coventry University. Von-Wun Soo graduated from Electrical Engineering from National Taiwan University. He got his master degree in Biomedical Engineering and Ph.D. degree in Computer Science from the State University of New Jersey, Rutgers, USA. After getting his PhD degree, he has been doing research and teaching as a faculty in Department of Computer Science at National Tsing Hua University, Hsin Chu, Taiwan. Recently, he has been working with coordination and ontology for multi-agent systems in various application domains such as context aware travelling information service, historical information extraction, biological and genomic knowledge management, and creative engineering design.     

工业机器人的分布式控制系统设计

介绍了通用型工业机器人分布式控制系统的设计方案，总结了工业机器人控制系统设计所必须考虑的问题。分析说明：工业机器人分布式控制系统是一种比较理想的快速实时控制系统。     

基于SSL协议的可信应用及实现*

首先分析了安全套接层（SSL）协议在握手阶段的信任不足问题,然后讨论了信任协商机制的原理,提出了采用信任协商机制来扩充SSL协议,并给出了具体的实现方案。     

异构多机器人协作系统研究进展

异构多机器人系统可以发挥单一结构机器人在某个领域的优点而达到整体的最优配置,机器人的功能和接口协议对协作系统影响很大.IGRS协议是我国在信息设备协作领域中惟一的国际标准,为异构多机器人协作提供了有效的支持.对国内外相关研究进行系统地归纳和总结,找出需要解决的问题,并在课题组研制的多种机器人平台上,从3个方面阐述了基于IGRS协议的异构多机器人协作系统:异构机器人的定位、通信以及感知方案;异构机器人协商策略和分组方案;机器人的功能分类和规划,提出了细粒度可控的任务委托分配方案.     

A distributed multi-agent production planning and scheduling framework for mobile robots

Inspired by the new achievements in mobile robotics having as a result mobile robots able to execute different production tasks, we consider a factory producing a set of distinct products via or with the additional help of mobile robots. This particularly flexible layout requires the definition and the solution of a complex planning and scheduling problem. In order to minimize production costs, dynamic determination of the number of robots for each production task and the individual robot allocation are needed. We propose a solution in terms of a two-level decentralized Multi-Agent System (MAS) framework: at the first, production planning level, agents are tasks which compete for robots (resources at this level); at the second, scheduling level, agents are robots which reallocate themselves among different tasks to satisfy the requests coming from the first level. An iterative auction based negotiation protocol is used at the first level while the second level solves a Multi-Robot Task Allocation (MRTA) problem through a distributed version of the Hungarian Method. A comparison of the results with a centralized approach is presented.     

An Internet-based negotiation server for e-commerce

This paper describes the design and implementation of a replicable, Internet-based negotiation server for conducting bargaining-type negotiations between enterprises involved in e-commerce and e-business. Enterprises can be buyers and sellers of products/services or participants of a complex supply chain engaged in purchasing, planning, and scheduling. Multiple copies of our server can be installed to complement the services of Web servers. Each enterprise can install or select a trusted negotiation server to represent his/her interests. Web-based GUI tools are used during the build-time registration process to specify the requirements, constraints, and rules that represent negotiation policies and strategies, preference scoring of different data conditions, and aggregation methods for deriving a global cost-benefit score for the item(s) under negotiation. The registration information is used by the negotiation servers to automatically conduct bargaining type negotiations on behalf of their clients. In this paper, we present the architecture of our implementation as well as a framework for automated negotiations, and describe a number of communication primitives which are used in the underlying negotiation protocol. A constraint satisfaction processor (CSP) is used to evaluate a negotiation proposal or counterproposal against the registered requirements and constraints of a client company. In case of a constraint violation, an event is posted to trigger the execution of negotiation strategic rules, which either automatically relax the violated constraint, ask for human intervention, invoke an application, or perform other remedial operations. An Event-Trigger-Rule (ETR) server is used to manage events, triggers, and rules. Negotiation strategic rules can be added or modified at run-time. A cost-benefit analysis component is used to perform quantitative analysis of alternatives. The use of negotiation servers to conduct automated negotiation has been demonstrated in the context of an integrated supply chain scenario. Received: 30 October 2000 / Accepted: 12 January 2001 Published online: 2 August 2001     

Continuous free-crab gaits for hexapod robots on a natural terrain with forbidden zones: An application to humanitarian demining

Autonomous robots are leaving the laboratories to master new outdoor applications, and walking robots in particular have already shown their potential advantages in these environments, especially on a natural terrain. Gait generation is the key to success in the negotiation of natural terrain with legged robots; however, most of the algorithms devised for hexapods have been tested under laboratory conditions. This paper presents the development of crab and turning gaits for hexapod robots on a natural terrain characterized by containing uneven ground and forbidden zones. The gaits we have developed rely on two empirical rules that derive three control modules that have been tested both under simulation and by experiment. The geometrical model of the SILO-6 walking robot has been used for simulation purposes, while the real SILO-6 walking robot has been used in the experiments. This robot was built as a mobile platform for a sensory system to detect and locate antipersonnel landmines in humanitarian demining missions.