基于智能体的仿人机器人分层控制系统

提出了基于智能体的仿人机器人分层控制思想,构建了由主控层、通信层和执行层三部分构成的仿人机器人分层控制系统.机器人执行层分为多个独立的智能体,每个智能体具有控制器、必要的传感器和关节驱动器,机器人的伺服控制由这些智能体实现.这样整个系统能够充分发挥智能体的反应性、自治性、预动性和社会性等特性,不仅可以直接处理原始传感器数据,而且可以单独或通过多个智能体之间的协调直接对机器人的一些异常情况进行处理,如机器人遇到障碍物、机器人连杆臂碰撞等,可以提高仿人机器人的稳定性和实时性.实验结果表明,相比传统的分布式控制系统,采用基于智能体的分层控制系统可以提高机器人的稳定性和实时性.     

TTCAN通讯网络实时性分析

在自主研发的CAN总线实时仿真系统上,通过软件编程,分别实现了CAN协议通讯和TTCAN(Time-Triggered CAN)协议时间触发通讯.通过对两种不同通讯协议下的网络实时性进行比较,分析了TTCAN通讯网络的实时性.研究结果表明,引入TTCAN协议的时间触发功能能解决CAN协议中的总线冲突问题,有效提高了实时性要求较高的周期型消息的实时性.     

电动汽车控制网络实时性分析研究

分析了影响电动汽车分布式控制系统实时性的主要因素,通过对整个网络系统的测试,考察了实际运行的网络的性能是否能够满足汽车动力系统的实时性要求.对目前电动汽车网络中常采用的125kb/s,250kb/s和500kb/s三种通信速率的CAN网络实时性进行了对比测试分析,结果表明:在相同的网络中,总线正常通信的情况下,提高总线通信速率,能有效降低总线负载率;10ms的信息在网络上实时性要求比较高,将主要影响网络实时性能.所得研究结果对制定电动汽车CAN网络协议具有重要参考价值.     

Two-Stage High-Efficiency Encryption Key Update Scheme for LoRaWAN Based IoT Environment

Secure data communication is an essential requirement for an Internet of Things (IoT) system. Especially in Industrial Internet of Things (IIoT) and Internet of Medical Things (IoMT) systems, when important data are hacked, it may induce property loss or life hazard. Even though many IoT-related communication protocols are equipped with secure policies, they still have some security weaknesses in their IoT systems. LoRaWAN is one of the low power wide-area network protocols, and it adopts Advanced Encryption Standard (AES) to provide message integrity and confidentiality. However, LoRaWAN's encryption key update scheme can be further improved. In this paper, a Two-stage High-efficiency LoRaWAN encryption key Update Scheme (THUS for short) is proposed to update LoRaWAN's root keys and session keys in a secure and efficient way. The THUS consists of two stages, i.e., the Root Key Update (RKU) stage and the Session Key Update (SKU) stage, and with different update frequencies, the RKU and SKU provide higher security level than the normal LoRaWAN specification does. A modified AES encryption/decryption process is also utilized in the THUS for enhancing the security of the THUS. The security analyses demonstrate that the THUS not only protects important parameter during key update stages, but also satisfies confidentiality, integrity, and mutual authentication. Moreover, The THUS can further resist replay and eavesdropping attacks.     

光测设备上的现场总线应用设计

在光电跟踪测量设备上实现了基于CAN总线的多探测器成像控制系统.该系统利用DSP芯片实现现场控制节点硬件和控制程序开发,按照模块化设计以灵活地满足成像控制系统的电机控制、传感器控制、温度测控等工程上需求;设计了实时通讯协议来满足系统控制网络数据传输的要求;编制了可在远程上位机上运行的主控程序以对成像控制系统进行监控.此...     

A vertically intersected dual-axis modularized reconfigurable actuator: design and application for a six-axis humanoid robot arm

A vertically intersected dual-axis modularized actuator system (DAMA) is developed and applied to a six-axis humanoid robot arm in this article. The DAMA consists of a two independent joint system, and the system structure is further refined using finite element analysis. It will be shown that the novel DAMA modular system can be used to easily construct a mechanism with any degrees of freedom. In other words, a modular or reconfigurable system can be achieved using the DAMA module. Based on simulations with ADAMS and MATLAB software packages, the system dynamic properties can be observed. In addition, the hardware and software systems of the DAMA are developed. The hardware architecture is composed of a microprocessor, an RS-232 to CAN bus module, and two independent-joint controller modules. The software control system is written in Visual C++. The system employs a simple but effective PID scheme to independently control the DAMA's two joints. The experimental results show that for an S-curve and circle trajectory input position command, the DAMA and the six-axis humanoid robot arm, which is formed by the DAMA module, can track the command well. Hence, the DAMA can be used as a generic module for multiple-degree-of-freedom systems.     

CAN总线在现场检测系统中的应用研究

CAN总线是一种主要用于各种现场检测和控制的现场总线网络,由于可靠性高、实时性好、成本较低,近年来已经广泛应用于各种工程检测与控制领域。在此介绍一种CAN总线在现场检测系统中应用的设计方案,并重点论述系统软硬件设计及通信协议的制定等方面内容。实际应用表明,系统通信在具有可靠性和稳定性之外,还有一定的扩展功能。     

类人机器人脚面扭滑建模与检测分析

为克服采用零力矩点（ZMP）或脚面所受压力中心（COP）检测方法进行类人机器人稳定性控制时不能防止机器人脚面扭滑的问题,提出了一种基于COP检测的脚面扭滑检测方法,并对其进行了数学建模与分析。对类人机器人MechG进行的仿真实验验证了该方法的有效性。仿真结果显示,通过基于COP检测的脚面扭滑检测可以进一步得到不发生扭滑的COP子稳定区域,从而弥补了机器人ZMP／COP法控制的不完善性。     

A review of: “Applied Productivity Analysis for Industry.” By S. EILON,B. GOLD AND J. SOESAN. (Pergamon Press Ltd, 1976.) [Pp. 151.] Price £8 00 (hardback), £5-00 (flexi-cover),

The paper outlines the features of an ‘intelligent’ interface based on local area network (LAN) protocols, which was designed to enable a variety of computer controlled manufacturing machines to be linked together and integrated with supervisory computers performing control, data-base and production management functions. The use of this interface provides the basis of a general solution to the problems of flexibility and efficient utilization within manufacturing environments. To illustrate the use of the interface, the paper presents some examples of the utilization of shared resources on a computer network to improve the processing facilities available at robot controllers. Also included is a brief discussion of the nature of communication with computer controlled manufacturing machines.     

Green5G: Enhancing Capacity and Coverage in Device-to-Device Communication

With the popularity of green computing and the huge usage of networks, there is an acute need for expansion of the 5G network. 5G is used where energy efficiency is the highest priority, and it can play a pinnacle role in helping every industry to hit sustainability. While in the 5G network, conventional performance guides, such as network capacity and coverage are still major issues and need improvements. Device to Device communication (D2D) communication technology plays an important role to improve the capacity and coverage of 5G technology using different techniques. The issue of energy utilization in the IoT based system is a significant exploration center. Energy optimization in D2D communication is an important point. We need to resolve this issue for increasing system performance. Green IoT speaks to the issue of lessening energy utilization of IoT gadgets which accomplishes a supportable climate for IoT systems. In this paper, we improve the capacity and coverage of 5G technology using Multiple Inputs Multiple Outputs (MU-MIMO). MU-MIMO increases the capacity of 5G in D2D communication. We also present all the problems faced by 5G technology and proposed architecture to enhance system performance.     

数字化机载环控地面检测系统的研究

通过采用两片PIC18F448及其外围器件实现了机载环控地面检测系统的数字化设计。通过I^2C总线实现两片单片机之间的数据传输与协调,并利用其CAN接口模块实现多套检测系统的网络化和远程控制操作。     

Controller Placement in Software Defined Internet of Things Using Optimization Algorithm

The current and future status of the internet is represented by the upcoming Internet of Things (IoT). The internet can connect the huge amount of data, which contains lot of processing operations and efforts to transfer the pieces of information. The emerging IoT technology in which the smart ecosystem is enabled by the physical object fixed with software electronics, sensors and network connectivity. Nowadays, there are two trending technologies that take the platform i.e., Software Defined Network (SDN) and IoT (SD-IoT). The main aim of the IoT network is to connect and organize different objects with the internet, which is managed with the control panel and data panel in the SD network. The main issue and the challenging factors in this network are the increase in the delay and latency problem between the controllers. It is more significant for wide area networks, because of the large packet propagation latency and the controller placement problem is more important in every network. In the proposed work, IoT is implementing with adaptive fuzzy controller placement using the enhanced sunflower optimization (ESFO) algorithm and Pareto Optimal Controller placement tool (POCO) for the placement problem of the controller. In order to prove the efficiency of the proposed system, it is compared with other existing methods like PASIN, hybrid SD and PSO in terms of load balance, reduced number of controllers and average latency and delay. With 2 controllers, the proposed method obtains 400 miles as average latency, which is 22.2% smaller than PSO, 76.9% lesser than hybrid SD and 91.89% lesser than PASIN.     

Cyber-based design for additive manufacturing using artificial neural networks for Industry 4.0

Additive Manufacturing (AM) requires integrated networking, embedded controls and cloud computing technologies to increase their efficiency and resource utilisation. However, currently there is no readily applicable system that can be used for cloud-based AM. The objective of this research is to develop a framework for designing a cyber additive manufacturing system that integrates an expert system with Internet of Things (IoT). An Artificial Neural Network (ANN) based expert system was implemented to classify input part designs based on CAD data and user inputs. Three ANN algorithms were trained on a knowledge base to identify optimal AM processes for different part designs. A two-stage model was used to enhance the prediction accuracy above 90% by increasing the number of input factors and datasets. A cyber interface was developed to query AM machine availability and resource capability using a Node-RED IoT device simulator. The dynamic AM machine identification system developed using an application programme interface (API) that integrates inputs from the smart algorithm and IoT interface for real-time predictions. This research establishes a foundation for the development of a cyber additive design for manufacturing system which can dynamically allocate digital designs to different AM techniques over the cyber network.     

基于无线通讯网络的机器人遥操作

在描述了基于无线通讯网络的遥操作技术原理的基础上,分析了3种具体基于无线通讯网络的机器人遥操作系统,并基于建立的遥操作系统进行了实验,对实验结果进行了分析．同时讨论了手机遥操作机器人技术,实现了手机对机器人的遥操作．从系统实验结果可以看到,基于目前移动通讯网络或无线局域网进行机器人的遥操作是可行的．     

类人型机器人动作情感识别研究

目的 为优化人与机器人动作情感交互方式,研究类人型机器人动作单模态情绪表达的可识别性,探究类人型机器人动作情绪识别的影响因素。方法 以类人型机器人NAO为例,采用问卷调查的方式,基于离散情绪模型,获取机器人NAO动作表达情绪的识别性、效价和唤醒度,研究类人型机器人动作的情绪识别性、效价和唤醒度,基于认知匹配理论研究类人型机器人动作与真人模拟动作、真人自然动作情绪表达差异的影响因素。结果 人类能够通过类人型机器人动作的单模态情绪表达,在不同情感语义上进行比较细腻的情绪识别,机器人形态及动作的幅度、速度、力量是情绪识别的影响因素。结论 建立类人型机器人动作与情感语义、效价及唤醒度的关系模型,以及类人型机器人动作情绪能量图,为机器人情感表达和动作交互设计提供较为系统的参考模型。     

基于CAN总线的纯电动汽车驱动控制系统仿真与测试

根据CAN总线通信原理,设计纯电动汽车驱动控制系统网络结构,参照SAE J1939协议制定纯电动汽车驱动控制系统的CAN通信协议,并利用CANoe对总线系统进行性能仿真分析,最后采用Matlab/Simulink软件结合CANcaseXL总线分析仪对纯电动汽车电机驱动控制系统进行硬件在环测试。通过仿真及测试实验,验证CAN通信协议及电机驱动控制系统的有效性。     

Software-Defined Space-Air-Ground Integrated Network Architecture with the Multi-Layer Satellite Backbone Network

Under the background of the rapid development of ground mobile communication, the advantages of high coverage, survivability, and flexibility of satellite communication provide air support to the construction of space information network. According to the requirements of the future space information communication, a software-defined Space-Air-Ground Integrated network architecture was proposed. It consisted of layered structure satellite backbone network, deep space communication network, the stratosphere communication network and the ground network. The SpaceAir-Ground Integrated network was supported by the satellite backbone network. It provided data relay for the missions such as deep space exploration and controlled the deep-space spacecraft when needed. In addition, it safeguarded the anti-destructibility of stratospheric communication and assisted the stratosphere to supplement ground network communication. In this paper, algorithm requirements of the congestion control and routing of satellite backbone protocols for heterogeneous users’ services were proposed. The algorithm requirements of distinguishing different service objects for the deep space communication and stratospheric communication network protocols were described. Considering the realistic demand for the dynamic coverage of the satellite backbone network and node cost, the multi-layer satellite backbone network architecture was constructed. On this basis, the proposed Software-defined Space-Air-Ground Integrated network architecture could be built as a large, scalable and efficient communication network that could be integrated into space, air, and ground.     

Safety issues in the development of the experimental model for an innovative medical parallel robot used in brachytherapy

The paper presents a medical parallel robot (BR-1), designed for the minimally invasive, targeted, treatment of cancer through brachytherapy. The analysis of Jacobi matrices allows a complete study of the singularities while generating also a set of conditions which, implemented in the control system, enable the safe behaviour of the robot. Brachytherapy is an advanced form of cancer treatment involving the placement of small radioactive seeds directly inside the malignant tumour, allowing a very effective, local treatment of cancer. For this task an innovative parallel robotic system has been developed, having five degrees of freedom, constructed in two versions, BR-1R and BR-1T with a slight variation at the level of a passive joint. The two solutions revealed different accuracy distributions and by selecting the proper variant based on the tumour location, an increased universality degree for the BR-1 robot is obtained. The singularity-free workspace is determined using the assessment of singularities for both robot versions. The control system for both robot versions is simple, robust and intuitive allowing clinicians to have an accurate procedure, having real-time force monitoring during the needle insertion. The experimental data demonstrate that the robotic structure is a worthy candidate for robotic-assisted brachytherapy.     

现场总线及应用

现场总线是过程控制技术，自动化仪表工业技术和计算机网络技术三者结合的产物，是安装在工业过程现场仪表与控制室内的控制设备之间的一种串行数字通信链路。文章介绍了现场总线技术特点及５种典型的现场总线，并给出了基于ＣＡＮ总线的系统设计原理框图和最小系统节点电原理图。     

CAN总线的机器人传感器网络设计

研发了基于CAN总线的移动机器人传感器网络,有效地保证了移动机器人多传感器信息通讯的实时性和稳定性.详细阐述了该移动机器人的体系结构和传感器网络的组成,同时设计了一套CAN网络通讯协议,实现了传感器节点的多主通讯,在很大程度上改进和提高了移动机器人的性能.