Decentralized adaptive coordinated control of multiple robot arms without using a force sensor

This paper presents a distributed adaptive coordinated control method for multiple robot arms grasping a common object. The cases of rigid contact and rolling contact are analyzed. In the proposed controller, the dynamic parameters of both object and robot arms are estimated adaptively. The desired motions of the robot arms are generated by an estimated object reference model. The control method requires only the measurements of the positions and velocities of the object and robot arms, but not the measurements of forces and moments at contact points. The asymptotic convergence of trajectory is proven by the Lyapunov-like Lemma. Experiments involving two robot arms handling a common object are shown.     

反应堆材料热物性数据库管理系统

衡量一个数据库的质量，不以要看其所包含的数据还应考虑数据库管理系统的使用功能。为了更有效地实施ＩＡＥＡ的ＣＲＰ（ＣｏｏｒｄｉｎａｔｅｄＲｅｓｅａｒｃｈＰｒｏｇｒａｍｍｅ）中有关建立反应堆材料热物性数据库的计划，并考虑到能使所收集的数据方便地为用户服务和进行广泛的国际交流，为此设计并编制了该数据库的软件管理系统ＴＰＳＹＳ。这个系统可在ＩＢＭ－ＰＣ（３８６，４８６）等兼容机上运行，采用人机对话、菜单提示、全屏幕操作。其主要功能有：数据库维护、数据检索、与大型计算程序ＭＡＴ－ＰＲＯ接口和与国际上现有的数据库ＴＨＥＲＳＹＳＴ接口。     

A coordinated reverse logistics system for regional management of multi-source hazardous wastes

This paper presents a coordinated reverse logistics (CRL) management system for the treatment of multi-source hazardous wastes in a given region, in this case, a specific high-technology manufacturing zone. A linear multi-objective analytical model is formulated that systematically minimizes both the total reverse logistics operating costs and corresponding risks. In addition to inter-organizational logistics operating factors, environmental concerns are considered and formulated as corresponding risk-related constraints. Using the proposed model, results of numerical studies indicate that when the aspect of risk-induced penalties is not considered, the operational costs of regional hazardous-waste management can be efficiently reduced by 58%, compared to the existing operational costs at the study site. In addition, it is also observed that the corresponding weight associated with the risk-induced objective function embedded in the proposed model seems to have a significant effect on the CRL costs.     

适用于仿真工业控制系统的软件包

本文提出的仿真软件包具有丰富的数学运算功能、控制算法功能、逻辑运算功能及图形编辑能力．软件包结构上充分体现了模块化的设计思想，而在功能及组态方法上又十分类似于分散控制系统相应的功能。使用该软件包，可方便地对各种典型的工业控制系统特别是由微处理机组成的分散控制系统进行仿真研究。     

A cell-based robust optimal coordinated control on urban arterial road

Process of optimizing coordinated control is divided into two stages.At the first stage,the study improves a robust optimal control model of single-point intersection to optimize cycle and split.At the second stage,the study combines all links with intersections of arterial road as a complete system,and applies cell transmission model to simulate traffic flow on urban signalized arterial road.We propose a coordinated control model based on the platform to optimize offset between adjacent intersections.Genetic algorithm is executed by MATLAB to solve the model.The performance evaluations show that the model not only effectively reduces average delay and stopping rate of vehicles on arterial road and largely enhances traffic capacity of arterial road,but also lowers the sensitivity of signal control for flow fluctuations.     

Finite-time coordination in multiagent systems using sliding mode control approach

Finite-time stability in dynamical systems theory involves systems whose trajectories converge to an equilibrium state in finite time. In this paper, we use the notion of finite-time stability to apply it to the problem of coordinated motion in multiagent systems. Specifically, we consider a group of agents described by fully actuated Euler–Lagrange dynamics along with a leader agent with an objective to reach and maintain a desired formation characterized by steady-state distances between the neighboring agents in finite time. We use graph theoretic notions to characterize communication topology in the network determined by the information flow directions and captured by the graph Laplacian matrix. Furthermore, using sliding mode control approach, we design decentralized control inputs for individual agents that use only data from the neighboring agents which directly communicate their state information to the current agent in order to drive the current agent to the desired steady state. Sliding mode control is known to drive the system states to the sliding surface in finite time. The key feature of our approach is in the design of non-smooth sliding surfaces such that, while on the sliding surface, the error states converge to the origin in finite time, thus ensuring finite-time coordination among the agents in the network. In addition, we discuss the case of switching communication topologies in multiagent systems. Finally, we show the efficacy of our theoretical results using an example of a multiagent system involving planar double integrator agents.     

Evaluation of hydraulic excavator Human–Machine Interface concepts using NASA TLX

This study evaluated newly proposed Human–Machine Interface (HMI) design concepts for improving the ergonomics of hydraulic excavators. The design concepts were based on an augmented interaction technique which involved the use of heads-up display (HUD) and coordinated control as HMI elements. Two alternative HMI designs were elaborated in order to separately evaluate the ergonomic impacts of the head-up display and the coordinated control by comparing them to the standard HMI design. The effectiveness of these three HMI designs in terms of the reduction of the operators' mental and physical workload were assessed by conducting experiments utilizing human subjects, ages 23–35 years. The National Aeronautics and Space Administration's Task Load Index (NASA TLX) method was used for collecting subjective workload scores based on a weighted average of ratings of six factors: Mental Demand, Physical Demand, Temporal Demand, Own Performance, Effort, and Frustration Level. The results showed that the type of HMI design affects different aspects of the operator's workload. Indeed, it showed how the proposed augmented interaction is an effective solution for reducing the ergonomic gaps in terms of mental workload, and to a lesser extent the physical workload, subjected by the standard HMI design.     

基于模糊PID控制器的协调控制系统优化

火力发电厂在我国电力工业中占有主要地位,大型火电单元机组的协调控制对象是一个多变量、强耦合的控制对象,针对此对象设计合适的解耦控制器是急需解决的问题.本文结合以1000MW机组作为具体模型,分别采用常规PID协调控制方式和参数自整定模糊PID解耦协调控制方式对全工况下的协调控制系统进行仿真研究,在线对PID参数进行整定,通过仿真结果进一步比较,可以看出,该方法可以很好的对单元机组协调系统进行控制,并能使控制系统的性能得到完善.     

基于逆向解耦的BTU协调系统内模控制设计

针对火电单元机组协调系统的多变量强耦合特点,提出一种基于内模控制器与解耦器一体化思想的内模解耦控制方法.区别于一般的多变量内模控制,将解耦技术与内模控制相结合,同时具有解耦器和内模控制器的特性.首先根据相对增益系数矩阵选择控制主通道,然后通过基于逆向解耦的原理设计控制器,其计算过程简单并且适用于高阶对象.最后以300MW单元机组为控制对象,在MATLAB/SIMULINK环境下,仿真并验证了控制器在不同工况下均可以实现较好的控制品质,具有较强的鲁棒性.     

浅议影响产业劳动生产率的因素及“三化”协调发展

本文将劳动生产率增长理论和实证分析运用于工业化、城镇化和农业现代化的协调发展,计算和分析了提高劳动生产率的三大要素对不同产业在不同的历史时期对产出的贡献率。“三化”的不协调主要体现在国民经济一、二、三产业劳动生产率差别太大,这也是二元经济社会结构的根源。要达到“三化”协调发展,只有逐步缩小三大产业劳动生产率的差别,最终达到基本均衡状态,才能消除二元经济社会结枸。