基于达芬奇的移动机器人开发平台设计

针对传统移动机器人的实时性差和扩展性差的局限性,在达芬奇技术的基础上,通过裁减定制,去除冗余的功能,设计了一种移动机器人的开发平台。该机器人系统包括移动机器人需要的视觉系统,并有丰富的运动控制接口以及驱动模块。同时,设计了多传感器融合、无线网络通信、路径规划、运动控制、人机界面等移动机器人的测试软件和应用模块。该移动机器人平台也具有模块化、硬件体积小、功耗低、可移植、可扩展、实时性强等优点。     

基于LabVIEW的仿生型机器马的软件设计

根据开放式运动控制的要求.采用以主计算机作为上位机和以运动控制器作为下位机的方法,设计了一种基于NI运动控制器的6轴并联机器马运动控制系统,并对该系统的功能,硬件结构和软件设计方法进行研究,完成数据及状态显示、机器马运动规划等任务,该系统具有开放性、高速性、实时性和模块化等特点.     

基于PCI总线的多电机控制系统

针对工业现场多电机控制的需求，并在研究电机控制基本原理以及PCI总线通信机制后，设计了一套基于PCI总线的多电机控制系统。该系统主要包括实时控制平台、运动控制板卡以及驱动模块。PCI总线可以保证实时控制平台与运动控制板卡之间数据交互的高速性，满足通信的带宽要求，为电机控制的实时性提供基础。实时控制平台采用RTW双机模式，宿主机主要完成在MATLAB中搭建控制模型的任务，目标机则负责让程序在实时环境下运行。运动控制板卡主要采用Zynq-7z020和PCI9054两款芯片来设计，可以让板卡在具有并行处理能力的同时还可与实时控制平台之间进行高速通行。实际运行表明，所设计的多电机控制系统运行平稳且实时性好。     

用Java实现基于CORBA的Agent应用系统开发

由于Agent在适应软件开发需求方面的有效性,利用Agent技术开发实际应用系统引起了人们的高度重视,但是基于Agent系统的开发仍然缺乏开发环境和编程工具的支持。笔者在构建远程智能教育通信平台的过程中,尝试借鉴Agent思想解决分布式智能应用问题,采用Java语言实现了基于CORBA的多Agent系统监控模型(CAMM)。文章描述了采用Java多线程机制实现Agent生命周期控制、采用对象序列化机制实现移动Agent的思想方法和技术手段。     

基于ARM9现场控制器的冗余设计

化工、能源等工业现场对数据采集、分析和控制的稳定性和实时性有很高的要求。介绍了以AT91RM9200控制芯片为平台,并结合Linux操作系统,采用硬件冗余设计具有很好实时性和稳定性的数据采集、分析、控制的系统,并说明了系统的组成、硬件设计原理以及软件设计方法。     

一种面向遥操作的多指手Multi-agent模型结构

提出一种面向遥操作的多指手Multi-agent模型逻辑结构,采用Java语言设计了用户Agent、管理Agent 和手指Agent模型以及Multi-agent之间的通讯模块．使用Java3D与VRML建立多指手三维虚拟模型,开发了网络遥操作仿真平台．最后,在该平台上实现了多指手遥操作的虚拟再现,验证了多指手Multi-agent模型的可行性．     

基于FPGA的运动控制卡的设计和实现

基于FPGA的运动控制卡采用脉冲加方向的闭环控制方式,具有结构简单,集成度高、实时性好等优点.从硬件的构成、设计和算法实现等方面入手,阐述了运动控制卡的设计和开发.用硬件描述语言VHDL(very high speed integrated circuit HDL)和原理图结合的方式对FPGA编程实现系统的主要硬件逻辑和算法,从而提高了系统的灵活性和移植性.在硬件算法上,采用乒乓操作处理高速的分频倍数数据流,提高了系统的实时性和控制精度;并且提出了一种基于加二计数器的分频算法,实现任意分频倍数的分频.利用嵌入式调试工具SignalTap对运动控制卡进行硬件调试和仿真,给出了相应的误差分析.     

ReWorks的POWERLINK主站设计与解决方案

本文基于国产嵌入式实时操作系统锐华(ReWorks)设计并实现了POWERLINK实时以太网主站解决方案,并在龙芯2K1000平台的网关控制器上进行应用,支持POWERLINK组网实时通信和双网冗余。基于ReWorks的POWERLINK主站控制器具有高可靠性、高实时性且方便开发调试等特性,可满足高安全实时控制与通信的工业控制、轨道交通、机器人运动控制等领域需求。测试结果表明,可满足安全工业互联网对实时稳定、自主可控、安全可靠的较高要求。     

熔模铸造生产线集成控制系统的开发

针对熔模铸造生产线的实际应用要求,开发了以工业控制计算机为控制中心,PLC、机器人等为执行机构的控制系统。实现了对硅溶胶制壳过程的监控,对悬挂线运动控制、悬挂线与机械手的协调控制以及对在线工件的状态管理与实时调度。详细介绍了该控制系统的硬件方案设计,并在硬件系统的基础上分析了软件系统的设计与开发,讨论了OPC技术,SQL数据库技术以及调度控制的实现。     

基于Jave的Agent研究

通过研究Agent开发平台的体系结构与Agent内部体系结构—BDI模型的实现机制,研究一个基于Java语言扩展与BDI概念模型的Agent开发平台JBSAD。为Agent系统的开发提出了一种方法,方便了Agent应用系统的开发。     

Agenice--一种新的基于Web Service的Mobile Agent理论框架

Mobile Agent和Web Service是两种非常有发展前景的新技术，在科研和工程领域都有着广泛的应用，但这两种技术各有其不足之处。该文首先通过实例分析这两种技术的异同点，然后试着将Mobile Agent和Web Service这两种技术融合成一种新的技术——Agenice(Agent Service)——智能服务。它将从3个方面来讨论实现融合的途径：(1)虚拟机和中间语言：将用不同语言编写的Agent类翻译成中间态语言，使其能在不同操作系统、不同技术平台下运行；(2)AML：基于语义的Agenice描述语言；(3)移动技术：实现代码移动和状态移动的方法。     

Advanced Programmed Motion Tracking Control of Nonholonomic Mechanical Systems

Trajectory tracking control of nonholonomic systems has been extended to tracking a desired motion. The desired motion is specified by equations of constraints, referred to as programmed, which may be differential equations of high order and may be nonholonomic. The strategy enables motion tracking control under the assumption that the system dynamics are accurately known. It is referred to as a model reference tracking control strategy for programmed motion. In this paper, adaptive and repetitive extensions of the strategy are proposed. Two selected advanced tracking control algorithms, i.e., the desired compensation adaptation law and the repetitive control law, which were originally dedicated to holonomic systems, are adapted to motion tracking control of nonholonomic systems. Simulation studies that illustrate programmed motion tracking control of systems with unknown parameters and the performance of repetitive motions are provided. A new performance measure to evaluate a programmed motion tracking performance is introduced.      

基于单层MAS的分布式交通信号智能控制模型

提供了一种基于单层分布式MAS结构的智能交通信号灯控制系统模型，系统中每一个Agent根据本地交叉路口的交通状况自主形成控制策略，并将该策略与其他的Agent进行协商，以实现整个系统的自适应控制。为了验证本研究的结果，用Java开发了TSCSNHM模拟器，并在其中使用KQML语言实现各个Agent之间的信息交换和协商。通过3种典型的控制模式的模拟实验结果表明，TSCSNHM模式的控制效能接近于集中智能控制模式。     

Web使用挖掘的数据采集技术探究

如何准确、及时、全面地采集用户使用数据是Web使用挖掘的重要前提和基础。基于Web的基本结构,Web使用挖掘的数据源可以从web服务器端、应用服务器端、代理服务器端和客户端进行采集。文中分析了传统的基于Web日志进行Web使用挖掘所面临的问题,讨论了建立在用户浏览行为基础上的客户端数据采集技术,重点讨论了其中的JavaApplet技术。通过JavaApplet技术可以获取客户端IP,可以自动完成用户浏览信息的准确采集,可以广泛用于各类网站的个性化和智能化服务、站点结构改进、商业智能等。     

采用Java ME测试Agent的嵌入式设备自动测试框架

提出了一个将手工测试转换为自动测试的轻量级框架。经过扩展Java ME API,Java ME程序（MIDlets）具备拦截和模拟用户输入能力。Java ME测试Agent建立HTTP服务,根据配置文件或Web浏览器控制命令决定工作方式：学习模式或测试模式。在学习方式,Agent根据用户输入生成测试脚本;在测试模式,Agent利用测试脚本模拟测试。在GPS/PDA上实现了测试框架并用实验验证。该解决方案用模拟自动测试代替手工费时费力交互手工测试,提高了测试效率。     

J-SEAL2—A Secure High-Performance Mobile Agent System

Even though the advantages of mobile agents for distributed electronic commerce applications have been highlighted in numerous research works, mobile agent applications are not in widespread use today. For the success of mobile agent applications, secure, portable, and efficient execution platforms for mobile agents are crucial. However, popular mobile agent systems do not meet the high security requirements of electronic commerce applications, are not portable, or cause high overhead. Currently, the majority of mobile agent platforms is based on Java. These systems simply rely on the security model of Java, although it is not suited to protect agents and service components from each other.In contrast, J-SEAL2 is a mobile agent system designed to meet the high security, portability, and performance requirements of large-scale electronic commerce applications. J-SEAL2 extends the Java environment with a model of strong protection domains. The core of the system is a micro-kernel fulfilling the same functions as a traditional operating system kernel: protection, communication, domain termination, and resource control. For portability reasons, J-SEAL2 is implemented in pure Java. This paper focuses on the design of the new communication model in J-SEAL2, which allows convenient, efficient, and mediated communication in a hierarchy of strong protection domains.     

Reactive multi-agent system for assembly cell control

This paper presents a multi-agent system for the control of manufacturing systems. The multi-agent system is designed to provide manufacturing control with three important characteristics: high robustness, quick response and good expandability. A prototype multi-agent-based control system has been developed for a flexible assembly cell as an example. The prototype multi-agent system contains several reactive agents. Each agent acts according to its built-in behaviours, and the behaviours are able to respond to stimuli from the manufacturing environment. A system architecture to implement the multi-agent-based control system is proposed and the coordination model of the reactive agents is developed. The generic agent structure is established for individual reactive agents, and the behaviours and the subsumption architecture of each agent are designed.     

Oracle9i中Java存储过程的应用

Oracle数据库集成了JVM,这就为编写存储过程提供了不同于PL/SQL的开放式和可移植的方法。开发人员可用Java存储过程实现功能强大数据逻辑。文中详细介绍了Java存储过程和PL/SQL的关系、Java存储过程在JVM中加载和调用的过程以及如何创建和使用Java存储过程,最后具体给出了在组件开发中运用Java存储过程的方法。     

CLUST: Simulating Realistic Crowd Behaviour by Mining Pattern from Crowd Videos

In this paper, we present a data‐driven approach to simulate realistic locomotion of virtual pedestrians. We focus on simulating low‐level pedestrians' motion, where a pedestrian's motion is mainly affected by other pedestrians and static obstacles nearby, and the preferred velocities of agents (direction and speed) are obtained from higher level path planning models. Before the simulation, collision avoidance processes (i.e. examples) are extracted from videos to describe how pedestrians avoid collisions, which are then clustered using hierarchical clustering algorithm with a novel distance function to find similar patterns of pedestrians' collision avoidance behaviours. During the simulation, at each time step, the perceived state of each agent is classified into one cluster using a neural network trained before the simulation. A sequence of velocity vectors, representing the agent's future motion, is selected among the examples corresponding to the chosen cluster. The proposed CLUST model is trained and applied to different real‐world datasets to evaluate its generality and effectiveness both qualitatively and quantitatively. The simulation results demonstrate that the proposed model can generate realistic crowd behaviours with comparable computational cost.     

A simple distributed garbage collector for distributed real-time Java

The use of real-time distribution middleware programmed with high-level languages like Java is becoming of increasing interest in next generation applications. Technology like Java’s Remote Method Invocation (RMI) paves the way towards these new distributed horizons. RMI offers many high-level abstractions useful for distributed application programmers to reduce their development times. One of these abstractions is a distributed garbage collector (DGC) that removes unreachable remote objects from the distributed ecosystem. However, in real-time Java, distributed garbage collection is underspecified and it introduces unbounded indeterminism on end-to-end real-time Java communications. This article analyzes this problem proposing a simple characterization for a predictable real-time distributed garbage collector (RT-DGC). The approach requires support from the middleware infrastructure that implements the abstraction but it also introduces bounded overhead. The article provides insight on the performance that RT-DGC offers to a distributed real-time Java application and the extra overheads due to the intrinsic cost of this abstraction.