多路通道无线传感网络测控系统的研究

针对现有无线测控系统功耗大、传输通道单一、实时性不强等问题,研究设计了基于多路通道的无线传感网络测控系统。利用无线传感网络的感知技术和嵌入式网关的传输技术,通过WiFi、GPRS、3G、IP中的任意一种连接方式,实现了嵌入式网关与Internet服务器的通信;应用HTML5和RTMP技术,研发了基于Web的HMI软件,实现了手机个人数字助理(PDA)等移动终端的访问。运行结果表明,该系统保证了数据传输的可靠性和实时性,具有一定的实际参考价值。     

基于朵云的大规模移动云计算系统

移动云计算是解决移动计算中包括电池寿命、处理能力和存储容量等缺陷的最佳方案。为了减少移动设备的功耗和网络时延,本文提出了一种基于朵云的大规模移动云计算系统CMCC（Cloudlet-based Mobile Cloud Computing）。使用多个朵云分布式部署,移动设备通过WiFi接入朵云进而实现和云端服务器相连接。该方案能够提供足够大的覆盖区域,能够有效满足移动设备的移动需求,并有效降低移动设备移动位置,减少广播宽带通信需求。仿真实验结果证明,CMCC能够有效减少移动设备功率消耗和通信延迟。     

一种基于GPRS的IP网管系统移动性扩展方式

IP网管系统因其能有效提高IP网络管理效率而被广泛采用,但仍尚未实现其随时随地接入与访问。通过分析IP网管系统的架构和对其进行移动性扩展的影响因素,提出了一种利用GPRS无线网络为承载,以PocketPCSmartphone为移动网管终端的移动性扩展方案。方案中不仅考虑GPRS数据传输速率的限制因素,也要针对PocketPCSmartphone的操控特点进行分析和设计。试验系统测试结果表明,IP网管系统在进行移动性扩展后,实现了用户通过移动智能终端在GPRS网络覆盖下的IP网管系统接入与访问,使用移动智能     

一种结合移动IP和SIP实现IP网络移动性管理的优化方案

本文提出了一种网络层和应用层相结合实现IP网络移动性管理的新方案。移动终端的固定IP地址作为数据传输的地址;当终端和所在子网使用的是不同的IP子网前缀时,使用转交地址形成隧道对数据进行收发;SIP地址作为用户帐号,是在应用层使用服务的地址,通过把它动态地和移动终端绑定来使用终端。方案中还提出了以SIP地址域的分级方式进行组织管理的用户数据库系统,定义了为子网中移动终端服务的区域代理。新方案能够对现役设备和协议改动较小的程度下,为下一代网络提供移动性管理。     

一个新型嵌入式移动性支持方案

IETF的移动IP协议存在代理的部署少、三角路由增加网络开销以及操作系统的支持有限等问题,未得到广泛应用。该文针对移动IP协议的不足,提出了一个新型的嵌入式移动性支持方案。该方案引入嵌入式移动代理和地址索引服务器来实现移动管理,最大限度地减小了移动管理对网络基础设施的依赖,为单个或成组移动设备提供了透明的移动服务。仿真实验表明,该移动性方案开销小、效率高,易于实现。     

基于WiFi网络的可视化遥控搬运机器人设计

基于WiFi网络的可视化无线遥控搬运机器人,通过机器人安装的传感器实现数据采集,利用WiFi网络高速传输实时视频图像。采用WiFi网络通信可使控制端多样化,可用手机、电脑等具备WiFi功能的设备进行控制,此外,还可将机器人接入Internet实现更远距离的控制。本设计在S3C6410平台上移植了Linux操作系统,用于接收命令并对硬件设备进行控制,其中移植了MJPGstreamer作为视频服务器,BOA作为WEB服务器。     

基于开放式多智能体结构的分布式自主机器人系统

针对多机器人系统的分布式自主控制,本文首先提出了一种开放式的多智能体结构,给出了 设计原则和技术特点．然后面向真实世界的多机器人实时协作任务,采用多台自主移动机器 人构造了一个多机器人系统, 该系统集成了包括机器人视觉、传感器融合、无线通讯网络 以及基于行为控制等多项技术．最后采用基于行为融合的加权方法,实现了多机器人的编队 控制,实验结果表明了上述体系结构与方案的有效性．     

基于EtherNet/IP协议的交互式机器人控制系统

本文提出基于EtherNet/IP协议的交互式机器人控制系统,该控制系统可广泛应用在自动化控制、工业生产自动化设备等领域,例如码垛、焊接、装配、切割等自动化设备。该控制系统包括以太网模块、控制柜控制模块、机器人运动模块、EtherNet/IP协议模块、地址功能映射模块、功能调用模块、机器人控制模块,通过EtherNet/IP协议与可编程逻辑控制器（PLC）通讯,以控制机器人或获取机器人相关参数数据。该控制系统利用以太网硬件使用广泛、PLC生产领域使用普遍等优点,可减少机器人硬件成本和培训成本,提高控制灵活性和通讯灵活性,广泛应用于工业自动化领域。     

QR码导航的室内目标搜寻机器人研究

针对室内的目标搜寻问题, 开发研制了一套使用Android手机作为主要处理设备、可远程操控和使用语音控制的机器人系统。介绍了该系统的结构组成, 提出了一套基于人工路标的导航方案。该方案应用QR码作为人工路标引导机器人运动到指定区域, 然后识别出目标位置, 最后通过判断目标区域面积是否达到阈值的方法停在目标附近位置, 基于有限状态机实现机器人的模式切换。对目标检测和人工路标识别分别进行了实验, 结果验证了该方案的有效性和实用性。     

物联网应用中基于非法接入点的无线拒绝服务攻击研究

WiFi无线通信技术在物联网应用领域处于重要地位,常见的WiFi物联网终端设备包括无线网络摄像头、智能手机、PDA、平板电脑、笔记本电脑、智能家居网关和工业自动化控制网关等.攻击者可以通过使用非法接入点发送断网指令给WiFi物联网终端,使它们中断正常的数据通信.目前,国内外还没有有效的解决这类问题的方案.本论文研究了基于非法接入点所实施的无线攻击的特点,分析了攻击的基本原理,并为解决这类攻击提出了有效的方案.     

A Steward Robot for Human-Friendly Human-Machine Interaction in a Smart House Environment

The independence of people who need help with daily activities will become of vital importance to all societies in the future. This paper addresses the problem of controlling the assistive home environment and emphasizes human-friendly human-machine interactions in an approach designed to achieve independence. To provide residents with an accessible, convenient, and cost-effective environment for independent living, we introduce a new service robot, categorized as a steward robot, as an intermediate agent between residents and their complex smart house environment. The learning capability and emotional interaction of the robot can make it more human-friendly in various tasks. A learning system enables the robot to provide customized services by accumulating knowledge of the user's behavioral patterns in daily activities. An emotional interaction system generates facial expressions to communicate with the user in a human-friendly manner. We have developed two types of a steward robot: a software type, which can be used everywhere via personal computing devices such as a PDA and a cellular phone, and a hardware type, which provides tangible services with physical interaction via two robotic arms and a mobile base.     

基于Android的家居机器人的设计与实现

针对家具重量一般较大、搬运费时费力等一系列问题,本文提出了基于Android 的家居搬运机器人的全新理念;设计一款APP具备视频传输、运动控制、模式切换、机械臂控制和参数设置等功能。经过测试,该软件可以实现对机器人进行控制,并且拥有易于使用、代码简便、能够对特定需求进行二次开发等优势,具有较大的应用潜力。     

基于Adams和Matlab联合仿真的双足机器人越障研究

与轮行机器人相比,双足机器人具有更灵活的机械结构,具有跨越静态或动态障碍物的能力,使其可以在更复杂的环境中工作;以往的双足机器人路径规划控制策略只能解决静止或以可预测速度运动的障碍物的越障问题,提出了一种基于模糊Q学习算法的路径规划策略,在Adams软件中建立机器人的三维虚拟样机模型,在Matlab软件中设计控制器,进行联合仿真;仿真结果表明所设计的控制策略可以有效地克服机器人在线学习时间长的问题,并且可以成功跨越速度不可预测的运动障碍物,有很好的鲁棒性。     

移动机器人的Android远程控制终端软件设计

针对移动机器人设计了基于Android平台的远程控制终端软件,利用Wi-Fi实现控制终端和移动机器人的无线通信。移动机器人带有基于惯性传感器和和里程计的惯性定位系统。机器人把自身惯性定位测得的位置参数传回给控制终端,通过在控制终端平板电脑上可以看到移动机器人所处的位置,并对机器人的动作发出指令,实现对移动机器人的远程监测与控制。实验结果表明,该远程控制终端能对移动机器人进行位置显示和有效控制。     

A class of inherently fault tolerant distributed programs

Software for industrial process-control systems, such as nuclear power plant safety control systems and robots, can be very complex because of the large number of cases that must be considered. A design approach is proposed that uses decentralized control concepts, and is based on E.W. Dijkstra's concept of self-stabilizing systems (1974). This method greatly simplifies the software, so that its correctness can be verified more easily. A simple control system is described for a simulated robot that is tolerant of partial failure of controllers and mechanisms, and permits online repair and enhancement of the control functions     

Design Issues of a Semi-Autonomous Robotic Assistant for the Health Care Environment

This paper discusses design issues of a mobile robotic assistant for health or home care applications with the objective of relieving hospital personnel or domestic users of time-consuming routine tasks. These tasks are delegated to the robot via natural language and in turn autonomously executed. With respect to the execution of typical fetch-and-carry tasks, key components are surveyed and a system architecture for integration of the individual hardware and software modules into a service robot is presented. A prototype implementation is described and used for demonstrating the performance of the proposed design approach in real-world service scenarios.     

MAHRU-M: A mobile humanoid robot platform based on a dual-network control system and coordinated task execution

This paper introduces a mobile humanoid robot platform able to execute various services for humans in their everyday environments. For service in more intelligent and varied environments, the control system of a robot must operate efficiently to ensure a coordinated robot system. We enhanced the efficiency of the control system by developing a dual-network control system. The network system consists of two communication protocols: high-speed IEEE 1394, and a highly stable Controller Area Network (CAN). A service framework is also introduced for the coordinated task execution by a humanoid robot. To execute given tasks, various sub-systems of the robot were coordinated effectively by this system. Performance assessments of the presented framework and the proposed control system are experimentally conducted. MAHRU-M, as a platform for a mobile humanoid robot, recognizes the designated object. The object’s pose is calculated by performing model-based object tracking using a particle filter with back projection-based sampling. A unique approach is used to solve the human-like arm inverse kinematics, allowing the control system to generate smooth trajectories for each joint of the humanoid robot. A mean-shift algorithm using bilateral filtering is also used for real-time and robust object tracking. The results of the experiment show that a robot can execute its services efficiently in human workspaces such as an office or a home.     

基于ARM9和ZigBee的智能家居系统的设计

结合嵌入式技术和ZigBee无线通信技术开发了智能家居系统.给出了智能家居系统总体框架,对各部分的硬、软件进行了设计,并阐述了实现该系统的几个关键问题.用户可以通过网关对智能家居进行远程监控.在室内可以利用内嵌ZigBee模块的手持设备(例如PDA)对联网的家电设备进行集中管理和监控.     

Visual task identification and characterization using polynomial models

Developing robust and reliable control code for autonomous mobile robots is difficult, because the interaction between a physical robot and the environment is highly complex, subject to noise and variation, and therefore partly unpredictable. This means that to date it is not possible to predict robot behaviour based on theoretical models. Instead, current methods to develop robot control code still require a substantial trial-and-error component to the software design process.This paper proposes a method of dealing with these issues by (a) establishing task-achieving sensor-motor couplings through robot training, and (b) representing these couplings through transparent mathematical functions that can be used to form hypotheses and theoretical analyses of robot behaviour.We demonstrate the viability of this approach by teaching a mobile robot to track a moving football and subsequently modelling this task using the NARMAX system identification technique.     

A generalized kinematic modeling method for modular robots

Modular robots can be defined as reconfigurable mechanical arms which can be automatically controlled using suitable motion control software. In this article, a generalized kinematic modeling method is presented for such modular robots. This method can be used to derive the individual kinematic models of all the mechanical elements that make up the inventory of modular units, independently of their geometry and sequence of assembly into a robot. A general procedure is also presented to derive a global kinematic model of any robot configured using these modular units. The kinematic modeling technique of the units is based on Denavit-Hartenberg (D-H) parameter notation. A provision is also presented for converting “non D-H” parameter transformations, obtained in assembling the kinematic chain, into D-H transformations. This D-H conversion feature allows the modeling technique to preserve its generality when a kinematic model is obtained for the specific robot configuration at hand. The conceptual design of modular robot units that is under development in the Computer Integrated Manufacturing Laboratory (CIML) is also presented to show the feasibility of a modular approach to robot design and to clarify some of the mathematical for mulations developed in the article.