Tele-LightSaber——一种高对抗度竞争型网络机器人系统

竞争型网络机器人系统具有交互性强、对实时性要求高等特点．为了研究适用于强交互竞争型网络机 器人系统的控制模式和控制方法,本文设计并实现了一种高对抗度的竞争型网络机器人作业Tele-LightSaber,并在 此基础上提出了将上层人工遥操作与底层视觉伺服相结合的控制模式．最后,分别利用本文提出的控制模式与传统 人工遥操作模式对Tele-LightSaber 作业进行控制,实验结果表明,本文提出的控制模式具有更强的实时性以及更小 的跟踪误差．     

Design and evaluation of robot patient for nursing skill training in patient transfer

We developed a robot patient for patient transfer training for simulating a patient’s performance during patient transfer and for enabling nurses to practice their nursing skills on it. To realize the robot patient, we focused on addressing the problems of designing its limb actions to enable it to respond to nurses’ operations. RC servos and electromagnetic brakes were installed in the joints to enable the robot to simulate a patient’s limb actions, such as embracing and remaining standing. To enable the robot to automatically respond to nurses’ operations, an identification method for these operations was developed that used voice commands and the features of the limbs’ posture measured by angle sensors installed in the robot’s joints. The robot patient’s performance was examined by a control test in which four experienced nursing teachers performed patient transfer with the robot patient and a human-simulated patient. The results revealed that the robot patient could successfully simulate the actions of a patient’s limbs according to the nursing teachers’ operations and that it is suitable for nursing skill training.     

Framework for Assessing Robotic Dexterity within Flexible Manufacturing

With growing demand for flexibility in manufacturing processes, interest in dexterous industrial robots is increasing. To facilitate benchmarking, and to assess the suitability of these robots for flexible manufacturing tasks, there is a need to develop new methods of capturing the relevant performance characteristics of industrial robots. This research aims to show that the Boothroyd-Dewhurst (B-D) Design-For-Assembly method, an established method for optimizing manufacturing processes, can be effectively adopted to form the basis of a comprehensive robotic dexterity assessment within flexible manufacturing. A comparative study is conducted which shows that the B-D classification tables offer the most comprehensive solution due to the range of operations and artifacts considered. Building on these tables, a framework is developed for determining the suitability of a robot system within flexible manufacturing operations. In a sample test-case scenario involving a pick-and-place operation, the framework is shown to produce an accurate estimate of robot performance that can be easily compared to human data. The framework establishes a link between manufacturing operations and robot performance metrics, which addresses the current difficulty in robot integration and highlights the framework’s potential for adoption within flexible manufacturing.     

Animated simulation of the robot process capability

This paper describes an interactive computer graphic system developed for simulating robot capability. The system determines the positioning repeatability and accuracy of a robot performing specific operations. Central to the system are three characteristics, information describing the errors of the geometric and kinematic parameters of a robot, a common function to request and display a robot moving from one position to another, and finally a family of charts showing the repeatability of the robot implementing a given task.     

On the Validation of SPDM Task Verification Facility

This paper describes a methodology for validating a ground‐based, hardware‐in‐the‐loop, space‐robot simulation facility. This facility, called “SPDM task verification facility,” is being developed by the Canadian Space Agency for the purpose of verifying the contact dynamics performance of the special purpose dexterous manipulator (SPDM) performing various maintenance tasks on the International Space Station because the real SPDM cannot be physically tested for 3D operations on the ground due to the gravity. The facility uses a high‐fidelity SPDM mathematical model, known as the “truth model” of the space robot, to drive a hydraulic robot to mimic the space robot performing contact operations. In this research different techniques were studied for practically verifying that the complex simulation facility preserves the dynamics of the truth model of the space robot for space‐representative contact robotic tasks. Based upon the study and many years of experience in developing and verifying space robotic systems, a practical validation strategy including detailed test cases was developed along with a set of quantitative criteria for judging the validation test results. © 2004 Wiley Periodicals, Inc.     

Optimization of layout and path planning of surgical robotic system

Positioning a surgical robot for optimal operation in a crowded operating room is a challenging task. In the robotic-assisted surgical procedures, the surgical robot’s end-effector must reach the patient’s anatomical targets because repositioning of the patient or surgical robot requires additional time and labor. This paper proposes an optimization algorithm to determine the best layout of the operating room, combined with kinematics criteria and optical constraints applied to the surgical assistant robot system. A new method is also developed for trajectory of robot’s end-effector for path planning of the robot motion. The average deviations obtained from repeatability tests for surgical robot’s layout optimization were 1.4 and 4.2 mm for x and y coordinates, respectively. The results of this study show that the proposed optimization method successfully solves the placement problem and path planning of surgical robotic system in operating room.

     

Neural Approximation-based Model Predictive Tracking Control of Non-holonomic Wheel-legged Robots

This paper proposes a neural approximation based model predictive control approach for tracking control of a nonholonomic wheel-legged robot in complex environments, which features mechanical model uncertainty and unknown disturbances. In order to guarantee the tracking performance of wheel-legged robots in an uncertain environment, effective approaches for reliable tracking control should be investigated with the consideration of the disturbances, including internal-robot friction and external physical interactions in the robot’s dynamical system. In this paper, a radial basis function neural network (RBFNN) approximation based model predictive controller (NMPC) is designed and employed to improve the tracking performance for nonholonomic wheel-legged robots. Some demonstrations using a BIT-NAZA robot are performed to illustrate the performance of the proposed hybrid control strategy. The results indicate that the proposed methodology can achieve promising tracking performance in terms of accuracy and stability.

     

Experimental evaluation of teleoperation system with force-free control and visual servo control by human operator perception

This research considers the teleoperation of an articulated robot arm by means of force-free control and visual servo control (VSC) over communication channels using the Internet technology. A semi-autonomous type teleoperation system contains a human supervisory control and VSC schemes and switches one scheme to another for accomplishing the required task accurately. The main investigation is carried out to find how it effectively improves the accuracy and the effectiveness of the teleoperation after provision of a visual feedback channel to the system. The system accuracy, effectiveness, repeatability and handleability based on the human operator’s skills and operator’s cognitive aspects are evaluated using experimental results and statistical data analysis. Effectiveness of the statistical analysis is assured by increasing the number of experiment data and assuming environmental factors, and implicit variables maintain to be unchanged. Correlation coefficients are calculated to find out how controlled input parameters are related to the successful output given by the system.     

一种机器人嵌入式网络化控制系统体系结构的研究

针对机器人控制系统,探讨了基于串行总线的网络化控制系统的优缺点,提出了一种新的以ARM和FPGA为核心的机器人分布式多CAN总线控制系统体系结构．该体系结构有效地降低了网络化控制系统中对总线带宽的需求,可以实现对控制信息的分级处理和实时的伺服控制．还设计了基于FPGA的多CAN总线控制器,介绍了基于Linux的机器人控制软件体系结构的实现方法．最后,在模块化机器人中的应用表明该网络化控制系统体系结构是可行的．     

A flexible encapsulated MEMS pressure sensor system for biomechanical applications

 The use of pressure sensors made of conductive polymers is common in biomechanical applications. Unfortunately, hysteresis, nonlinearity, non-repeatability and creep have a significant effect on the pressure readings when such conductive polymers are used. The objective of this paper is to explore the potential of a new flexible encapsulated micro electromechanical system (MEMS) pressure sensor system as an alternative for human interface pressure measurement. A prototype has been designed, fabricated, and characterized. Testing has shown that the proposed packaging approach shows very little degradation in the performance characteristics of the original MEMS pressure sensor. The much-needed characteristics of repeatability, linearity, low hysteresis, temperature independency are preserved. Thus the flexible encapsulated MEMS pressure sensor system is very promising and shows superiority over the commercially available conductive polymer film sensors for pressure measurement in biomechanical applications. Received: 1 December 1999/Accepted: 17 August 2000     

Error Analysis and Effective Adjustment of the Walking-Ready Posture for a Biped Humanoid Robot

A walking control algorithm is generally a mixture of various controllers; it depends on the characteristics of the target system. Simply adopting one part of another researcher's algorithm does not guarantee an improvement in walking performance. However, this paper proposes an effective algorithm that can be easily adopted to other biped humanoid robots; the algorithm enhances the walking performance and stability of the robot merely by adjusting the walking-ready posture. The walking performance of biped humanoid robots is easily affected by an unsuitable walking-ready posture in terms of accuracy and repeatability. More specifically, low accuracy for the walking-ready posture may cause a large difference between an actual biped robot and its mathematical model, and the low repeatability may disturb the evaluation of the performances of balance controllers. Therefore, this paper first discusses the factors that detrimentally affect bipedal walking performance and their phenomena in the walking-ready posture. The necessary conditions for an ideal walking-ready posture are then defined based on static equilibrium and a suitable adjustment algorithm is proposed. Finally, the effectiveness of the algorithm is verified through dynamic computer simulations.     

基于IEEE1451的机器人网络感知系统研究

机器人所需要的多种传感器和执行器的兼容与接口问题日益突出．为降低建立和维护机器人感知系统的成本与复杂度，提高可靠性，本文基于智能化、网络化的设计思想．借助IEEE 1451智能变送器接口标准和现场总线技术，搭建了一个分布式、开放的机器人网络化感知系统。并针对传感器即插即用和传感器静、动态标定与性能评估等需求，详细介绍了感知系统的软硬件构成与网络接口设计。实测结果表明，系统运行稳定，实时性良好，为机器人实现更高级智能，完成更复杂任务提供了一个可靠的平台。     

面向竞争型网络机器人的运动目标快速检测

搭建了基于高速视觉的竞争型网络机器人系统.通过对比选取并融合了多种识别方法,设计了一套面向竞争型网络机器人的目标快速识别跟踪算法.采用动态窗口技术,并通过对不同传统方法的改进,进一步提高了该算法的实时性.本文方法能够在较复杂的背景下跟踪运动的目标机器人,具有较小的运算量及较好的鲁棒性.实验结果表明,该算法处理640×4...     

Robust nonlinear variable selective control for networked systems

This paper is concerned with the networked control of a class of uncertain nonlinear systems. In this way, Takagi–Sugeno (T-S) fuzzy modelling is used to extend the previously proposed variable selective control (VSC) methodology to nonlinear systems. This extension is based upon the decomposition of the nonlinear system to a set of fuzzy-blended locally linearised subsystems and further application of the VSC methodology to each subsystem. To increase the applicability of the T-S approach for uncertain nonlinear networked control systems, this study considers the asynchronous premise variables in the plant and the controller, and then introduces a robust stability analysis and control synthesis. The resulting optimal switching-fuzzy controller provides a minimum guaranteed cost on an H₂ performance index. Simulation studies on three nonlinear benchmark problems demonstrate the effectiveness of the proposed method.     

A practical approach for hybrid distributed MPC

This paper presents a framework to deal with distributed optimization problems composed by binary and continuous variables. Instead of using a mixed integer quadratic programming (MIQP), the approach proposed here transforms the MIQP into a set of quadratic programming's (QP) that are easier to solve. In this way an instance of the controller related to each feasible combination of binary variables is created. The distributed controller performs an iterative process where the set of agents must agree on the value of continuous interconnection variables, while each agent must decide the values of local binary variables. During the iteration procedure the instances are rated according to a performance index and the instances with best performance are selected until the best one is obtained. The proposed methodology is applied to economic optimization of networked microgrids.     

A visual path-following learning approach for industrial robots using DRL

Manufacturing companies are in constant need for improved agility. An adequate combination of speed, responsiveness, and business agility to cope with fluctuating raw material costs is essential for today’s increasingly demanding markets. Agility in robots is key in operations requiring on-demand control of a robot’s tool position and orientation, reducing or eliminating extra programming efforts. Vision-based perception using full-state or partial-state observations and learning techniques are useful to create truly adaptive industrial robots. We propose using a Deep Reinforcement Learning (DRL) approach to solve path-following tasks using a simplified virtual environment with domain randomisation to provide the agent with enough exploration and observation variability during the training to generate useful policies to be transferred to an industrial robot. We validated our approach using a KUKA KR16HW robot equipped with a Fronius GMAW welding machine. The path was manually drawn on two workpieces so the robot was able to perceive, learn and follow it during welding experiments. It was also found that small processing times due to motion prediction (3.5 ms) did not slow down the process, which resulted in smooth robot operations. The novel approach can be implemented onto different industrial robots to carry out different tasks requiring material deposition.     

A Method of Applying Flight Data to Evaluate Landing Operation Performance

Abstract

Pilots’ operation has an important effect on flight safety and performance, particularly in the final landing stage when pilots need to deal with complicated operations. This study aims to determine the potential value of flight data and develop a method of evaluating a pilot’s performance during landing phase based on flight quick access recorder (QAR) data from the perspective of risk assessment. First, a Landing Operation Performance Evaluation Model was developed based on risk evaluation principles. Three landing parameters, which are touchdown distance, touchdown vertical acceleration and touchdown pitch angle, were selected as indicators to evaluate the pilots’ landing operation performance in this model. Second, the flight landing operation performance evaluation system (FLOPES) was set up based on the evaluation model. Test results showed that FLOPES can accomplish all calculation flow of operation performance evaluation. Finally, it concluded that this method is a more accurate and effective way for evaluating the landing operation performance of a flight. It could be as a practical tool for airlines to manage landing risk quantitatively and to provide a more practical support for improving training and design in aviation.Practitioner summary: This study aims to determine the potential value of flight data and to develop a method of evaluating pilot’s landing operation performance from the risk evaluation perspective. Test results showed that this method is effective and could be as a practical tool for airlines to manage landing risk and improve training.Abbreviations:QAR: Quick Access Recorder; FLOPES: Flight Landing Operation Performance Evaluation System; ICAO: International Civil Aviation Organization; IATA: International Air Transport Association; SMS: Safety Management System; CAAC: Civil Aviation Administration of China; FOQA: Flight Operations Quality Assurance; VBA: Visual Basic for Applications     

The influence of training level on manual flight in connection to performance,scan pattern,and task load

This work focuses on the analysis of pilots’ performance during manual flight operations in different stages of training and their influence on gaze strategy. The secure and safe operation of air traffic is highly dependent on the individual performances of the pilots. Before becoming a pilot, he/she has to acquire a broad set of skills by training to pass all the necessary qualification and licensing standards. A basic skill for every pilot is manual control operations, which is a closed-loop control process with several cross-coupled variables. Even with increased automation in the cockpit, the manual control operations are essential for every pilot as a last resort in the event of automation failure. A key element in the analysis of manual flight operations is the development over time in relation to performance and visual perception. An experiment with 28 participants (including 11 certified pilots) was conducted in a Boeing 737 simulator. For defined flight phases, the dynamic time warping method was applied to evaluate the performance for selected criteria, and eye-tracking methodology was utilized to analyze the gaze-pattern development. The manipulation of workload and individual experience influences the performance and the gaze pattern at the same time. Findings suggest that the increase of workload has an increased influence on pilots depending on the flight phase. Gaze patterns from experienced pilots provide insights into the training requirements of both novices and experts. The connection between workload, performance and gaze pattern is complex and needs to be analyzed under as many differing conditions. The results imply the necessity to evaluate manual flight operations with respect to more flight phases and a detailed selection of performance indications.

     

移动机器人网络控制系统的输出反馈控制

以线性时不变系统为被控对象,建立了四轮移动机器人网络控制系统的离散数学模型。诱导时延是影响系统性能的关键因素,通过在节点中设置缓冲区的方法可以将网络控制系统中的随机诱导时延转化为确定性时延,从而将网络控制系统由随机系统转化为确定性系统。通过被控对象移动机器人控制实验系统,设计了一个能处理网络诱导时延的输出反馈控制器,分析了采样周期和网络诱导时延对网络控制系统稳定性的影响。仿真结果表明了该控制器和控制策略的正确性及有效性。     

A tripartite approach to operator-error evaluation in ballast water management system operation

This paper presents a new methodology developed to quantitatively analyze and prioritize the contributions of Human Factors (HFs) in the human-machine-interaction (HMI) within a complex sociotechnical system such as a Ballast Water Management (BWM) System. The methodology is a combination of the Human Factor Analysis Classification System (HFACS), Analytic Hierarchy Process (AHP), and a modified version of the Theory of Inventive Problem Solving (TRIZ) known as the Radial Dynamics Model (RDM). The methodology (HFACS-AHP-RDM) is based on a five-step algorithm, with which data from experts’ judgment was analyzed. A human-error and system risk minimization hierarchy was subsequently proposed to improve human performance and minimize the likelihood of an unwanted event such as the discharge of harmful aquatic organisms and pathogens (HAOPs). The result from the study in order of hierarchy showed fatigue, training and complex automation to be the HFs with the greatest impacts on BWM operations. Minimizing their impact, therefore, will have the greatest positive contribution on the performance of the system.Relevance to industryThe study's outcome shall help decision makers in prioritizing limited resources (e.g. time and money) allocation to resolving only issues related to HFs with the greatest impact on BWM System's performance. The new methodology could also be applicable in assessing the relative impacts of subjective criteria like HFs in complex sociotechnical systems other than BWM Systems.