Development of micro-robot system for playing soccer games

This paper surveys recent trends in developing a micro-robot soccer system, and presents a design procedure for soccer-playing robots, focusing on our system based on the centralized approach. The robot soccer game has a lot of challenging problems, such as coordination between robots, motion planning of robots, visual recognition of objects, and so on. Considering the results of the MIROSOT contests, the centralized approach may be more powerful than the distributed approach in order to implement such functions. Our attempt was to develop a micro-robot system with a remote-brainless control architecture. After that, new techniques were applied to the chasis design, the actuators, the radio link, the vision system software, and the control strategy software. Using a fast vision system, we obtain the configuration of each robot, and then the host computer computes the desired motion and commands each robot directly via RF communication. We describe in detail some technical tips for developing the robots, and explain our strategy for obtaining the scores. This article also includes the most recent improvements in robot hardware and software. This work was presented, in part, at the Third International Symposium on Artificial Life and Robotics, Oita, Japan, January 19–21, 1998     

滞后效应影响下低碳供应链减排投入与零售定价

考虑减排投资效果滞后效应的影响,构建低碳供应链纵向合作减排微分博弈模型.运用微分对策理论,得到分散式决策和集中式决策下低碳供应链的最优减排努力投入、宣传努力投入和零售定价策略,以及分散式决策下制造商的合作减排支付比例,并对不同决策机制下供应链成员的均衡策略进行比较分析.研究发现:集中式决策下,制造商减排努力投入和零售商宣传努力投入均高于分散式决策下的相应值;滞后时间存在一个阈值,只有滞后时间低于该阈值时,集中式决策才能提升整个供应链系统的经济绩效.     

三级低碳供应链联合减排及宣传促销微分博弈研究

低碳环境下,研究供应商、制造商与零售商组成的三级供应链联合减排及宣传促销微分博弈问题.首先,通过两次成本加成,考虑产品需求受产品减排量、零售商宣传促销努力及产品零售价格的综合影响,得到供应链分散决策与集中决策情形下的动态均衡策略及减排量的最优轨迹.然后,通过数值算例及灵敏度分析比较两种情形下的结果,研究发现:无论分散决策还是集中决策,减排量,产品批发价,供应商、制造商、零售商的努力水平都随时间逐渐增加至某一稳定值,但集中决策的稳定值大于分散决策相应的稳定值;随着供应商、制造商各自的减排努力对产品减排率的影响系数及零售商的宣传促销努力对产品需求的影响系数的增大,减排量、产品批发价、供应链成员努力水平、供应链成员利润、供应链总利润都会增加;集中决策的供应链总利润总是大于分散决策的供应链总利润.最后,对集中决策总利润用多人联盟博弈的多目标决策合作博弈方法进行分配,实现了供应链系统整体绩效的提升.     

A decentralized approach for the conflict-free motion of multiple mobile robots

This article presents a novel approach to decentralized motion planning and conflict-resolution for multiple mobile robots. The proposed multi-robot motion planning is an on-line operation, based on cost wave propagation within a discretized configuration space-time. By use of the planning method, a framework for negotiation is developed, which permits quick decentralized and parallel decision making. The key objective of the negotiation procedure is dynamic assignment of robot motion priorities. Thus, robots involved in a local conflict situation cooperate in planning and execution of the lowest cost motion paths without application of any centralized components. The features required for individual and cooperative motion are embedded in a hybrid control architecture. Results obtained from realistic simulation of a multi-robot environment and also from experiments performed with two mobile robots demonstrate the flexibility and the efficiency of the proposed method.     

Multi-robot cooperation-based mobile printer system

This paper proposes a mobile printer system (MPS) based on multi-robot cooperation. The system consists of multiple mobile robots, a wireless LAN system, a graphic user interface (GUI), and a host computer. The GUI comprises a user input section, a task allocation optimization section, and a control and communication section. Its operation is as follows: a user draws a picture on an input window of the GUI, and then the host computer commands client printer-robots to reproduce the same on a paper in a finite time.To control multiple robots during this process, two kinds of multi-robot control architectures along with a collision-free arbitration configuration are proposed. One is a decentralized control architecture, which employs subsumption architecture based on behavior-based robotics. The robots continue to seek the nearest line and to draw it repeatedly until all lines are drawn. This architecture needs no pre-planning and is fault-tolerant. Another is a centralized control architecture, which employs an evolutionary algorithm (EA). The host computer optimizes the task (finding time-optimal path) allocation for each robot by using an evolutionary algorithm and sends the optimized job sequence to the robots. To minimize the elapsed time in drawing all the lines, an evolutionary algorithm with a representation of an individual suitable for the MPS is employed for the task optimization. This architecture can minimize the elapsed time effectively and offers the option of distance-optimality in addition to time-optimality.The proposed architectures are simulated and real experiments with three omni-directional robots are carried out to demonstrate the effectiveness and the applicability of the proposed mobile printer system.     

ON-LINE CASE-BASED PLANNING

Some domains, such as real-time strategy (RTS) games, pose several challenges to traditional planning and machine learning techniques. In this article, we present a novel on-line case-based planning architecture that addresses some of these problems. Our architecture addresses issues of plan acquisition, on-line plan execution, interleaved planning and execution, and on-line plan adaptation. We also introduce the Darmok system, which implements this architecture to play Wargus (an open source clone of the well-known RTS game Warcraft II ). We present empirical evaluation of the performance of Darmok and show that it successfully learns to play the Wargus game.     

基于SDN的智能交通架构

软件定义网络(SDN)是近年来备受关注的网络问题,已有学者将其和智慧城市建设进行融合。针对当今交通分散治理现状进行了研究,结合SDN转控分离和集中控制等特性,将其引入智能交通系统(ITS),提出了一个协同管理架构,旨在实现协同管理、改善交通。首先阐述了SDN的特点,利用其特性并结合ITS,提出了基于SDN的智能交通架构;其次,结合动态限速、路径诱导及天气等因素构建了协同管理策略模型,并将其与单一控制策略对比;最后通过仿真实验,对提出的架构策略进行了验证分析。实验结果表明,该架构下的管理与单一控制策略相比,平滑了交通流,使交叉口的平均延误降低20.7%,平均排队长度下降35%。     

集中监控管理控制系统研究

建立在计算机通信、网络和控制基础上的卫星通信与测控一体化地面站的集中监控管理和控制系统是实现一体化地面站设备集中监控、地面站系统集中测试、任务规划和流程管理的重要手段和方式。本文给出了一套卫星通信与测控一体化地面站的集中监控管理控制系统体系框架,并对其中的几个关键技术进行了研究和设计。     

Sporadic decentralized resource maintenance for P2P distributed storage networks

In this paper, we propose a novel decentralized resource maintenance strategy for peer-to-peer (P2P) distributed storage networks. Our strategy relies on the Wuala overlay network architecture, (The WUALA Project). While the latter is based, for the resource distribution among peers, on the use of erasure codes, e.g., Reed–Solomon codes, here we investigate the system behavior when a simple randomized network coding strategy is applied. We propose to replace the Wuala regular and centralized strategy for resource maintenance with a decentralized strategy, where users regenerate new fragments sporadically, namely every time a resource is retrieved. Both strategies are analyzed, analytically and through simulations, in the presence of either erasure and network coding. It will be shown that the novel sporadic maintenance strategy, when used with randomized network coding, leads to a fully decentralized solution with management complexity much lower than common centralized solutions.     

一个多机器人制造系统的设计与实现

本文构建了一个包含多个机器人和自动化物流单元的柔性制造系统，其中机器人部分包括一个自动导引小车和两台装配机器人，物流单元部分包括一个小型立体仓库和一条自动传输线．系统采用递阶分散式的体系结构，每个作业单元均有独立的控制器，并通过串行接口实现与主控计算机的实时通讯．在对系统作业任务进行有限状态机建模的基础上，采用基于事件的控制思想实现了多个作业单元的协调控制，提高了系统的柔性和鲁棒性，实验结果也证明了系统设计的有效性．     

电商平台主导下的供应链推广策略研究

结合电商平台快速发展的时代背景,构建了电商平台主导、制造商跟随的两级电商供应链博弈模型,分别研究了集中决策与分散决策下的产品定价、服务水平和推广水平,分析了佣金率对最优决策和供应链成员利润的影响,并设计了"推广成本分摊"策略.结果表明:当佣金率较低时,集中决策下的产品定价和服务水平、推广水平高于分散决策下的最优决策;当...     

Finding idle machines in a workstation-based distributed system

The authors describe the design and performance of scheduling facilities for finding idle hosts in a workstation-based distributed system. They focus on the tradeoffs between centralized and decentralized architectures with respect to scalability, fault tolerance, and simplicity of design, as well as several implementation issues of interest when multicast communication is used. They conclude that the principal tradeoff between the two approaches is that a centralized architecture can be scaled to a significantly greater degree and can more easily monitor global system statistics whereas a decentralized architecture is simpler to implement     

基于博弈论的多智能体协同控制算法

为实现交通的畅通,将博弈论引入到交通控制系统中。由于当前路口交通状况只受到来自邻居路口的车辆的影响,提出了基于多智能体的分布式协同控制框架,路口智能体与邻居通过协同博弈选出最优策略进行交通控制。描述了基于博弈论的协同控制算法,并通过仿真验证了该算法能够有效的适应交通流,实现交通控制。     

低碳环境下双渠道供应链线上线下广告策略的微分博弈分析

以一个由绿色制造商与零售商组成的双渠道供应链为研究对象,基于微分博弈分别比较分析集中式决策、采用竞争型广告策略的分散式决策与采用支持型广告策略的分散式决策模型下,双渠道供应链的最优均衡决策与最优利润.研究发现:集中式决策下的最优低碳水平、最优线上与线下广告水平均高于分散式决策,而产品最优销售价格可能高于、等于或低于分散式决策;分散式决策下,采用支持型广告策略的双渠道供应链的产品最优低碳水平、最优销售价格和最优线上广告投入水平与采用竞争型广告策略的双渠道供应链均衡策略一致;一定条件下,支持型广告策略使得分散式双渠道供应链得到Pareto改进,此时的最优线下广告投入水平优于竞争型广告策略下的最优线下广告投入水平.     

WSN混合构架室内定位系统的独占式通信机制

在无线传感器室内定位系统中,避免参考节点之间的信号相互冲突和干扰是定位系统重点解决的问题之一。针对这一问题,可以采用独占式通信机制,确保某一个参考节点独占某一时刻的通信,禁止其它节点在这一时刻发射信号;同时,采用无中心节点的构架模式,由独占通信的节点在发射信号结束时,随机选择一个有效的参考节点,使其成为下一个临时的中心节点并进入独占状态。该方法结合无中心构架和有中心构架的优点,有效地解决了参考节点之间信号相互间的冲突和干扰问题。     

Supporting Cooperative Software Processes in a Decentralized and Nomadic World

Recent advances in wireless networks enable decentralized cooperative and nomadic work scenarios where mobile users can interact in performing some tasks without being permanently online. Scenarios where connectivity is transient and the network topology may change dynamically are considered. Connectivity among nodes does not require the support offered by a permanent infrastructure but may rely on ad hoc networking facilities. In this paper, a scenario in which a nomadic group of software engineers cooperate in developing an application is investigated. The proposed solution, however, is not software process specific but holds for other cases where shared documents are developed cooperatively by a number of interacting nomadic partners. Support tools for these groups are normally based on a client-server architecture, which appears to be unsuitable in highly dynamic environments. Peer-to-peer solutions, which do not rely on services provided by centralized servers, look more promising. This paper presents a fully decentralized cooperative infrastructure centered around peer-to-peer versioning system (PeerVerSy), a configuration management tool based on a peer-to-peer architecture, which supports cooperative services even when some of the collaborating nodes are offline. Some preliminary experiences gained from its use in a teaching environment are also discussed     

新型分布式全电子计算机联锁系统

以联锁机为核心的集中控制方式是目前计算机联锁系统的主流,但该方式存在风险集中,工程造价较高,系统维护困难等问题。随着计算机、控制和通信技术的发展,分布式控制结构的优势日益突显。为了进一步提高系统的可靠性、安全性和灵活性,引入区域控制的概念,并将其与分布式控制、智能控制等技术相结合,在符合计算机联锁技术条件的基础上提出了一种新型的分布式全电子计算机联锁结构。给出了该计算机联锁系统中区域控制器的模型,对其联锁功能、网络结构进行了详细介绍。该结构实现了地理上和功能上的分散控制,有效降低了系统风险,符合铁路信号故障-安全的要求。     

CAUPS系统中的时空推理机制与算法

动态城市规划方案仿真系统中的一个重要问题就是抽象和提取仿真对象之间涉及到的空间和时间逻辑关系,并以此作为仿真过程的基本准则和规范动态推理演算。为了建立CAUPS系统中的时空推理机制,针对城市规划方案的动态仿真过程中需要应用到的基本准则和规范,在传统时空关系描述和推理规范的基础上定义出适用于面向城市规划动态仿真的时空关系。考虑到城市规划过程中存在的非刚体对象,提出面向城市辅助规划系统方案应用结果仿真的时间空间推理规范,该规范能够非常好的支持如植被、水域等非刚体对象,并给出一个适合多Agent系统采用的时间空间推理规范执行解决方案,包括时间推理规范算法和空间推理规范算法。面向城市规划的时间推理规范算法和空间推理规范算法已经被成功应用于CAUPS系统底层的多Agent交互关系调整中。     

再制造率随机的闭环供应链产品差别定价策略

考虑闭环供应链的差别定价问题, 制造商回收废旧产品, 并生产新产品和再制造产品, 再制造率随机. 采用Stackelberg 博弈方法, 研究集中决策和分散决策下相应产品的最优定价, 给出供应链各成员的最优利润. 结果表明:若制造商对产品延迟定价, 则集中决策下回收价格高于分散决策, 而销售价格均低于分散决策; 当零售商的保守利润不低于一定值时, 集中决策下总利润不低于分散决策, 制造商可以采用改进的两部定价契约协调供应链.

     

基于PDG图的分布式动态可执行服务组合方法

组合服务是将一系列Web服务协调地组合在一起,从而完成预期目标。组合服务按照其引擎分布可分为:集中式服务组合和分布式服务组合。分布式组合服务可以有效地解决集中式组合服务在系统可伸缩性、消息传输效率、自治性和有效负载均衡等方面的问题,将可执行全局流程等价分解成可执行本地流程,以及将服务组合和负载均衡结合集群概念,研究服务组合的QOS。这些将成为新的挑战,文中通过PDG图进行等价分解,并结合QOS,通过实验测试引擎负载,提出将负载均衡融入服务组合QOS研究思想。