A CAWL handler for context-aware composite workflow services

In distributed computing environment,workflow technologies have been continuously developed.Recently,there is an attempt to apply these technologies to context-aware services in ubiquitous computing environment.The middleware,which offers services in such environments,should support the automation services suited for the user using various types of situational information around the user.In this paper,based on context-aware workflow language （CAWL）,we propose a CAWL based composite workflow handler for supporting composite workflow services,which can integrate more than two service flows and handle them.The test results shows that the proposed CAWL handler can provide the user with the composite workflow services to cope with various demands on a basis of a scenario document founded on CAWL.     

Context-aware Workflow Model for Supporting Composite Workflows

-In recent years,several researchers have applied workflow technologies for service automation on ubiquitous computing environments.However,most context-aware oprkflows do not offer a method to compose several workflows in order to get more large-scale or complicated workflow.They only provide a simple workflow model,not a composite workflow model.In this paper,the autorhs propose a context-aware worrkflow model to support composite workflows by expanding the patterns of the existing context-aware workflows,which support the basic workflow patterns.The suggested worklow modei offers composite workflow patterns for a context-aware workflow,which consists of various flow patterns,such as simple,split,parallel flows,and subflow.With the suggested model,the model can easily reuse few of existing workflows to make a new workflow.As a result,it can save the development efforts and time of cantext-aware workflows and increase the workflow reusability.Therefore,the suggested model is expected to make it easy to develop applications related to context-aware workflow services on ubiquitous computing environments.     

Context-aware BPEL workflow system using aspect-oriented programming

Business process execution language(BPEL)is a most recognized standard workflow language.However,it is difficult to be used in the ubiquitous system computing environment because it is difficult to describe the context information in the selection of the flow through the branch.To solve this problem,we propose a new BPEL workflow system with context-awareness by using aspect-oriented programming(AOP).This system is composed of a BPEL system module and a weaving module using AOP for context-aware.The BPEL system module generates a BPEL workflow program.And the weaving module converts a context-aware mark-up language(CAML)document to the aspect-oriented program that is applied to context-aware code without modification of the existing BPEL document.We also define a new document form that is called CAML,which provides a context-aware that is not available in BPEL.The system can generate a context-aware workflow program.It is developed in a way that inserts context information using AOP to provide context-aware services.     

基于GIS和SLAM的机器人大范围环境自主导航

机器人自主导航技术的基础是其自定位能力,同时同步定位与建图(SLAM)是实现机器人自定位的重要方法。目前由于大规模SLAM技术发展的限制,机器人很难实现在大范围环境下进行建图和导航,并且尚没有结合SLAM和实际地理空间信息指导大范围机器人导航的完整自主导航系统。提出基于GIS和SLAM的机器人大范围环境自主导航方法,利用真实的城市空间路网信息,以地理信息系统(GIS)空间数据库的存储和计算能力为数据支撑,基于提出的大范围导航算法,实现了一套包含空间数据库、SLAM、导航算法的完整系统,具有良好的可复用性和可扩展性,符合实际生活场景,可以指导机器人进行大范围条件下的导航和建图行为。同时通过对机器人激光建图信息的存储,使得再次经过本区域的机器人可以在户外精确定位,实现在室外GPS缺失或误差条件下自身位置的修正。此外地图信息的存储可以实现多机器人对地图信息的复用,为多机器人的规划提供支撑。同时将人类世界的空间信息与机器人建图信息相结合,细化和丰富了原有的空间信息。     

姿态传感器在仿人机器人足部感知系统中的应用

仿人机器人要实现在复杂环境下稳定行走,仅仅依靠地面反力信息是远不能满足应用要求的,此时足部姿态信息显得更为重要。为实现仿人机器人的稳定行走,自主开发了基于姿态传感器的足部感知系统,利用姿态传感器(ADIS16355)与TMS320F2811实现对姿态信息的实时高速采集与处理。实验证明姿态传感器在仿人机器人足部感知系统中的可行性。     

Context-aware 3D visualization and collaboration services for ubiquitous cars using augmented reality

Context-aware, ubiquitous computing is a vision of our future computing lifestyle in which computer systems seamlessly integrate into our everyday lives, providing services and information in anywhere and anytime fashion. Augmented reality (AR) can naturally complement ubiquitous computing by providing an intuitive and collaborative visualization and simulation interface to a three-dimensional information space embedded within physical reality. This paper presents a service framework and its applications for providing context-aware and adaptable 3D visualization and collaboration services for ubiquitous cars (U-cars) using augmented reality, which can support a rich set of ubiquitous car services and collaboration services for distributed maintenance and repair. It utilizes augmented reality for providing visual interactions by superimposing virtual models of car components or sub-assemblies onto real cars, which realizes bi-augmentation between physical and virtual models. It also offers a context processing module to acquire, interpret and disseminate context information. In particular, the context processing module considers user’s preferences for providing customer’s context adaptable services. The prototype system has been implemented to support 3D animation, text-to-speech (TTS), augmented manual, and pre- and post-augmentation services in ubiquitous car service environments.     

Perception of effective contact area distribution for humanoid robot foot

Maintaining dynamical stability for humanoid robots to walk or run in even environments has so far been achieved. However, it will become a challenge work to keep balance under rough terrains, because the effective contact area (ECA) between the feet and the uneven environments is less than that on even ground. Thus some control schemes are additionally needed for robot to keep dynamical balance, which increases the complexity of control. In view of that, flexible force sensor array (FFSA) system is adopted under robot feet to detect the ECA in the case of stepping on rough terrains. Structure optimum, data acquisition, processing methods, etc., of the FFSA system are all elaborately provided in this paper. And the feasibility and validity of the FFSA system mounted in the robot foot system are experimentally tested on the humanoid robot platform BHR-2.     

未知环境中基于强化学习的移动机器人路径规划

为解决未知环境中移动机器人的自适应路径规划问题,提出了一种基于Q学习算法的自主学习方法。首先设计了未知环境中基于传感器信息的移动机器人自主路径规划的学习框架,并建立了学习算法中各要素的数学模型;然后利用模糊逻辑方法解决了连续状态空间的泛化问题,有效地降低了Q值表的维数,加快了算法的学习速度;最后在不同障碍环境中对基于Q学习算法的自主学习方法进行了仿真实验,仿真实验中移动机器人通过自主学习较好地完成了自适应路径规划。研究结果证明了该自主学习方法的有效性。     

Acquisition and optimization of weld trajectory and pose information for robot welding of spatial corrugated web sheet based on laser sensing

Robot welding provides us a new inexpensive technology to fabricate corrugated web H-beam compared to traditional mill process. The key and challenged technology to realize the intelligent welding of the spatial curve seam is to acquire the trajectory and pose information. A practically viable and robust method based on laser sensing was proposed to solve the aforementioned key problem. Firstly, robot, laser sensor, CCD camera, encoder, working station, and computer to control the robot were integrated into a system. Next, the trajectory information was acquired by laser distance ranging sensor and encoder based on triangulation theory. The filtering and smoothing algorithm was developed to accurate the web data. The posture was established based on the trajectory information. The interactive communication between the computer and robot was established to in time control the moving of the robot. Lastly, the data which were processed by the improved amplitude-limiting filtering algorithm were transmitted to the robot. The robot executed the program files in order to complete the welding process. The results show that this method has a high practicality in robot automatic welding of corrugated web H-beam.     

Kinematic parameter calibration method for industrial robot manipulator using the relative position

A new calibration method for industrial robot system calibration on a manufacturing floor is presented in this paper. To calibrate the robot system, a laser sensor to measure the distance between robot tool and measurement surface is attached to the robot end-effector and a grid is established in the floor. Given two position command pulses for a robot manipulator and using the position difference between two command pulses, the relative position measurement calibration method will find the real robot kinematic parameters. The procedures developed have been applied to an industrial robot. Finally, the effects of the models used to calibrate the robot are discussed. This calibration method represents an effective, low cost and feasible technique for the industrial robot calibration in lab. projects and industrial environments.     

A new approach to map building by sensor data fusion: sequential principal component-SPC method

This study proposes a new map building method for a mobile robot operating in an environment with obstacles by fusing sensor data. Required information for a map designing is supplied by fusion of different sensor data using the sequential principal component (SPC) method. We discuss mathematical and experimental issues of the method by comparing a Bayesian method that works efficiently in map building using sensor data fusion. Application of the method for grid based map building is introduced and compatibility in mobile robot navigation is demonstrated. Experimental studies are implemented on Nomad200 mobile robot successfully.     

分布对象环境下工作流执行系统设计

过程集成是ＣＩＭＳ信息技术发展的新方向，工作流技术是实现过程集成的关键技术之一。采用分布对象技术可以解决工作流执行系统实现中的异构分布处理、应用系统接口等问题，并有助于系统组件重用。本文讨论了基于分布对象技术ＣＯＲＢＡ的工作流执行系统的设计，分析了以对象请求代理（ＯＲＢ）为主要底层支撑的系统功能结构，研究了系统设计中模型语义支持与分布粒度等技术，并给出了基于ＣＯＲＢＡ的一个工作流执行系统的设计方案     

基于图像的机器人视觉伺服免疫控制

视觉传感器的引入增加了机器人对周围环境的自适应性,拓宽了机器人的应用领域。可以预见,具有视觉的智能机器人将得到越来越广泛的应用。本文根据机器人视觉伺服控制系统的特性利用图像雅可比矩阵的伪逆和免疫控制原理设计了视觉控制器,并将之应用于机器人视觉伺服控制中。两连杆机器人平面视觉跟踪控制仿真结果表明在控制系统的动态调节过程中,PI型免疫控制器的免疫反馈机制能使偏差迅速消除,控制性能优于常规的PID控制器。     

Design and Implementation of a BPEL Profiling System by Aspect-oriented Programming

Business Process Execution Language(BPEL)is being used in various applications as the standard of workflow.As the requirements increase to describe application processes in BPEL,BPEL document is getting more complicated.Therefore it is difficult to describe applications in BPEL with high reliability.In order to write highly reliable BPEL document,it is necessary to check if the document is working correctly in accordance with user’s intention.But it is difficult to carry out the test since BPEL engine doesn’t provide a profiling function.In this paper,we suggest a BPEL system with a real-time profiling function.The suggested system consists of an integrated development environment and a BPEL running environment.BPEL integrated development environment has a BPEL to Java(B2J)engine,which generates and executes a Java workflow program from a BPEL document,and a converter,which converts Java Weaving XML(JWX)documents to Aspect-oriented programs.The new functions are described in JWX,which is Extensive Markup Language(XML)-based document.Since aspect-oriented programming technique provides the way to modularize main and supplemental requirements,it guarantees the low degree of coupling between BPEL workflow program and new functions by weaving them.Our approach can be extended to add other functions to provide context-aware services.     

Flexible and Autonomous Integrated System for Characterizing Metal Oxide Gas Sensor Response in Dynamic Environment

Characterization and calibration of gas sensor is a complex problem due to the dynamic behavior of gases and the limitations of current technology. This article reports a flexible, robust, and autonomous integrated system that is able to perform characterization on metal oxide-based gas sensors in dynamic environments. The system controls the concentration and flow of the relevant gases into the gas chamber and simultaneously measuring the sensor response. This feature allows the characterization of the sensor under continuous dynamic flow of gases similar to conditions on a robot or flow pipes. Several experiments have been performed on the system using hydrogen sulfide. The results provide information on the general characteristics of the sensor as well as its sensitivity. The noise levels were studied with different reference voltages. Overall, the results verify that the system is reliable and able to produce repeatable measurements.     

基于概率方法的多微型机器人分布式定位

针对常见的微小型机器人群体定位中单纯依赖外部彩色视觉图像信息以及定位精度较差的问题,提出了一种基于概率方法的多微型机器人分布式定位方法。该方法利用部分可观Markov过程,将外部视觉信息和机器人个体的驱动信息融合,从而提高了定位精度。方法基于分布式形式出现,并且仅需要外部视觉传感器提供灰度图像,从而提高了多机器人系统的可扩展性。     

基于移动机器人的多超声波传感器信息融合

智能化是未来机动机器人的发展方向,而智能化的基础是传感器技术的发展,机器人信息融合技术则弥补了使用单传感器带来的缺陷。本文利用多超声波传感器系统荻得移动机器人的环境信息,并使用人工神经网络对多传感器信息进行融合,从而达到对被测物体影像比较准确的认识,试验表明效果良好,具有很好的使用价值。     

基于CAN总线的力传感器与机器人控制器通讯设计

研磨机器人系统中，研磨头与工件的接触力是保证加工精度，进行机器人力控制的一个重要因素。采用CAN通讯可以确保力传感器准确、及时地把力信息传送给控制器进行力控制。本文给出了6维腕力传感器与机器人控制器通讯的硬件结构，制定了可靠的通讯协议，实现了力信息的正确读取，为研磨机器人控制系统获得可靠的力信息提供了一种新的解决方案。     

A two-layered subgoal based mobile robot navigation algorithm with vision system and IR sensors

The present work describes the real-life implementation of a mobile robot navigation scheme where vision sensing is employed as primary sensor for path planning and IR sensors are employed as secondary sensors for actual navigation of the mobile robot with obstacle avoidance capability in a static or dynamic indoor environment. This two-layer based, goal-driven architecture utilizes a wireless camera in the first layer to acquire image and perform image processing, online, to determine subgoal, employing a shortest path algorithm, online. The subgoal information is then utilized in the second layer to navigate the robot utilizing IR sensors. Once the subgoal is reached, vision based path planning and IR guided navigation is reactivated. This sequential process is continued in an iterative fashion until the robot reaches the goal. The algorithm has been effectively tested for several real-life environments created in our laboratory and the results are found to be satisfactory.     

安保机器人数字孪生系统研究

针对安保机器人物理结构复杂、控制系统精度要求高、实时数据采集、数字端的传感器信号处理等问题致使安保机器人开发周期长、开发难度大的问题,设计了一个安保机器人数字孪生系统。对安保机器人数字孪生系统的系统管理模块、系统监控模块、功能模块3个子模块进行了详细设计,实现了对安保机器人数字孪生系统的管理、机器人主要部件的参数监控、传感器数据的采集和处理以及同类型机器人的二次快速开发。