基于Fuzzy AHP的司钻控制房人机界面评价

为了对石油钻机司钻控制房人机界面进行科学的评价,在确定其评价指标的基础上,运用Fuzzy AHP（模糊-层次分析）综合评价法实现了定性指标的定量转换,建立了石油钻机司钻控制房人机界面评价模型,克服了评价的主观性。根据上述理论编制了评价系统,避免了评价过程中的大量人工数学计算。研究表明,利用该方法建立的评价系统可以方便有效地实现对石油钻机司钻控制房人机界面的评价。     

特种头型微钻视觉检测方法研究

微钻的生产制造过程中,检测是一个至关重要的环节。面对市场对于特种头型微钻日益增长的需求,提出一种针对特种头型微钻的视觉检测方法。该方法通过拟合直线和拟合圆对刃面直径和芯厚的尺寸进行了测量,同时通过一种改进的直线拟合方法和NURBS样条曲线拟合方法,拟合出了刃面的标准轮廓,从而实现对微钻缺陷有无判断以及大小的计算,最后设计了可视化的软件进行实验。实验结果表明：各种头型微钻的尺寸参数测量重复误差在0.02%以内,缺陷参数测量重复误差在2%以内;提出的方法具有可行,可靠,精确的特点,能快速且有效的满足特种头型微钻的视觉检测。     

基于图像视觉伺服的AGV动力学控制

针对具有非完整约束AGV点镇定控制问题,提出一种新的基于图像视觉伺服控制算法.采用眼在手上视觉伺服模型,利用图像视觉伺服原理,基于图像误差设计了AGV视觉控制器,求得AGV广义控制速度;然后根据非完整约束特点的AGV运动学和动力学模型,利用计算力矩法设计了AGV动力学控制器,由广义控制速度计算出AGV控制力矩;从而实现了基于图像误差AGV力矩控制.并利用Matlab和Simulink进行了仿真,仿真结果表明了控制方法的有效性和可行性.最后利用Reinovo型AGV进行了实验,表明该方法具有很好的实用性.     

低光照度下人机界面背景色眼动分析评价研究

为研究在低光照度情景下不同明度背景色人机界面的视觉工效,从而为此情景下的人机界面设计提供一定的参考,针对1.0~3.5 lux光照条件下的低光照度情景,对两个不同明度背景色的汽车中控人机界面设计方案进行视觉目标捕捉的眼动测试与主观感受评测,筛选出视觉工效较好的设计方案。在此过程中,对设计方案进行眼动测试,并收集用户主观评分,最后通过评价指标数据与权重进行计算,并依据两个设计方案的加权得分对其进行比较。结果表明,在1.0~3.5 lux的光照条件下,低明度背景色人机界面的视觉工效优于高明度背景色人机界面。     

多模式协同自动送钻控制方法研究

本文介绍了石油钻机自动送钻系统几种控制模式的基本概念和控制原理,并对使用单模式自动送钻时其它相关钻井参数的保护方案,以及多模式协同自动送钻的控制方法进行了深入的研究.根据钻井工艺要求,结合在钻井现场调试过程中遇到的问题和现场经验,在分析使用单模式自动送钻时对其它工艺参数的保护限制方案的基础上,最终提出了多模式协同自动送...     

采用内点法和图像反馈的机器人视觉伺服预测控制

针对具有控制量约束和可视性约束的六自由度机器人的视觉伺服系统,研究了基于图像空间局部模型的预测控制器的设计问题.首先对特征点的投影图像的运动学方程进行离散化,得到系统的误差预测模型.然后通过选取合适的性能指标函数,将视觉伺服控制器设计问题转化为一个具有控制量约束和可视性约束的最优化问题.进一步,利用对数障碍函数处理约束,得到系统的牛顿方程,获得控制量的迭代求解公式.最后,利用数值仿真和实验验证了所提方法的有效性.     

基于视觉的薄钢板焊接机器人起始点识别与定位控制

针对集装箱薄钢板对接焊,提出一种新颖的焊接机器人起始点识别和焊枪精确对中焊缝起始点的视觉控制方法.首先提出一种迭代圆形霍夫变换方法,自动确定了包含焊枪特征点的圆形感兴趣区域,第2次迭代可实现焊枪特征点的识别和提取,具有鲁棒性和快速性的优点.接着使用直线霍夫变换方法实现了焊缝直线的识别和焊缝特征点的提取,进而设计了基于图像空间的焊缝起始点视觉控制方案,实现了焊缝起始点的精确定位控制.实验结果表明,提出的方法具有很好的鲁棒性,能够精确地识别出焊枪和焊缝特征坐标.视觉控制法能够快速地将焊枪定位到焊缝起始点位置.集装箱厂现场焊接测试也证实了这些方法的有效性,得到了满意的结果.     

基于单目视觉的微型空中机器人自主悬停控制

针对微型空中机器人在室内环境下无法借助外部定位系统实现自主悬停的问题,提出一种基于单目视觉的自主悬停控制方法.采用一种四成分特征点描述符和一个多级筛选器进行特征点跟踪.根据单目视觉运动学估计机器人水平位置;根据低雷诺数下的空气阻力估计机器人飞行速度;结合位置和速度信息对机器人进行悬停控制.实验结果验证了该方法的有效性.     

3D视觉结合图像检测与导纳控制的圆轴孔零件机器人装配

面向机器人柔顺装配圆轴与圆孔零件,建立基于3D、单目视觉与导纳控制的机器人自动装配系统,提出基于三维点云的轴线位姿估计算法、图像深度学习目标检测、导纳控制结合的圆轴孔零件的装配策略.针对3D视觉估计圆孔零件位姿问题,重点研究基于三维点云的轴线位姿估计算法.首先,介绍三维点云关键点选取方法;然后,以点云表面法线与轴线的几何约束为基础,提出并分析轴线粗估计的算法;最后,在轴线粗估计的基础上,提出并分析基于迭代鲁棒最小二乘的轴线位姿优化的算法.实验结果表明:轴线位姿估计的角度均方根误差为0.248°,位置均方根误差为0.463 mm,与现有流行的轴线估计方法相比,所提方法的精度更高,使装配策略很好地满足了机器人圆形轴孔零件装配的精度高、稳定可靠的要求.     

面向全自主智能机器人的无标定图像视觉伺服控制研究

在利用全自主智能机器人检测、搬运目标物的过程中,为了提高主机元件对机器人的伺服控制效果,设计了一种无标定图像视觉伺服控制方法。首先,根据机器人轨迹的无标定估计结果,计量目标物的位姿点,推导出机器人无标定图像中的目标物检测与追踪条件。按需连接视觉伺服控制器,通过求解机器人无标定运动内积的方式,计算图像视觉特征的伺服选择标准,实现对机器人无标定图像视觉特征的伺服选择。然后,在无标定图像中定义雅克比矩阵,根据图像视觉分割原则,完成机器人图像角点的伺服匹配处理,再通过确定强化控制参数的取值范围,实现无标定图像的视觉伺服控制。根据实验可知,应用该方法可以解决智能机器人难以运动至标定区域的问题,为提高伺服控制指令的执行有效性提供了保障。     

Adaptively robust rotary speed control of an anchor-hole driller under varied surrounding rock environments

A fixed rotary speed is adopted when drilling different rocks manually, resulting in an inefficient operation. Taking the characteristics of the electro-hydraulic servo component and the proportional valve in the anchor-hole driller into consideration, an adaptively robust control is designed to track the optimal rotary speed of the anchor-hole driller under the changing surrounding rocks, with the purpose of achieving an efficient operation. To fulfill this task, the optimal rotary speed of the anchor-hole driller under the changing surrounding rocks is firstly estimated in terms of the measured pressure and torque. Following that, an adaptively robust controller is designed for the rotation speed of the anchor-hole driller with nonlinear, unknown, and time-varying parameters. Finally, a compensation strategy is developed to alleviate the negative influence of dead-zone in the three-position four-way proportional valve. The proposed control strategy is applied to two scenarios of the roof rock stratums, and compared with the existing approach. The experimental results show that the proposed controller has a capability of rapidly tracking the optimal rotary speed with a small overshoot and oscillation, which is beneficial to improving the drilling efficiency.     

Feasibility of methods for early formative control room system evaluation

In a nuclear power plant, human factors evaluation is an important activity in the design of the control room system to ensure safe operation. The purpose of this study was to test the feasibility of methods for early formative evaluation of nuclear power plant control room systems, that is to say assessment of more general design decisions. Two methods were chosen for the assessment, scenario-based talkthrough and heuristic evaluation, and they were tested in three nuclear power plant control room system modification projects. The two methods were found useful and suitable for early formative evaluation. The combination of the methods makes it possible to take advantage of the strengths of both methods. Using guidelines focuses the evaluation on identifying typical design problems, while using a scenario-based use-focused approach allows identifying problems less typical and more unique for the specific design being evaluated. Doing the latter thoroughly result in a recourse-intensive evaluation, but this can be countered by trading some of the thoroughness for efficiency by using guidelines in the evaluation. Proposals for future work include improving the method combination by providing better support for adapting the implementation of the methods, as well as for the practical execution of the evaluation activity. Future work should also include further investigation of the method combination's usefulness, for example in other domains.     

机器人视觉伺服中CMAC学习控制系统研究

根据小脑模型关联控制器（CMAC）收敛速度快,适于实时控制系统的特点,设计了一种基于CMAC学习控制方法的机器人视觉伺服系统。在该系统中,CMAC被用作前馈视觉控制器对常规反馈控制器进行补偿。所提出的CMAC控制器替代图像雅可比矩阵来获得目标图像特征和机器人关节运动之间2D/3D变换关系,通过其在线学习,可以使系统对摄像机标定误差不敏感,从而提高系统的鲁棒性。实验证明了所设计控制系统的有效性。     

Empirical evaluation of training and a work analysis tool for participatory ergonomics

A controlled laboratory experiment was performed to test the effects of ergonomics training and the NIOSH lifting equation on the participatory redesign of a simulated manual material handling job. Before performing the job, 16 subjects were given ergonomics training and 16 were instructed on how to use the NIOSH lifting equation for manual lifting tasks. Compared to a control group, subjects who received the ergonomics instruction identified and eliminated more risk factors in the simulated job. While subjects who used the NIOSH lifting equation also identified more risk factors, they did not eliminate any more risk factors than the control group. No additive benefit was found using both the training and the lifting equation over either method alone. Ergonomics training led to better improvements than use of the lifting equation in terms of risk factors identified and eliminated. Implications for use of training and tools in participatory ergonomics approaches are discussed.

Relevance to industry

This study supports that ergonomics training should be a requisite for any participatory ergonomics approach. Given a fundamental level of ergonomics training, subjects demonstrated that they were better capable of identifying and eliminating risk factors in the job.     

基于点线特征的解耦视觉伺服控制方法

针对机器人的自动对准问题,提出一种基于点线特征的解耦视觉伺服控制方法。所提方法以点和直线作为图像特征,并利用图像特征的交互矩阵解耦姿态控制和位置控制,实现六自由度对准。首先利用直线及其交互矩阵设计姿态控制律,以消除旋转偏差;然后利用点及其交互矩阵设计位置控制律,以消除位置偏差;最后实现机器人末端目标的自动对准。在对准控制过程中,基于执行的相机运动量以及相机运动前后特征的变化量,可实现对深度的在线估计。另外,还设计了监督器对相机的运动速度进行调节,从而确保特征一直处于相机视野当中。在Eye-in-Hand机器人平台上,分别用所提方法和传统的基于图像的视觉伺服方法实现了机器人的六自由度对准。所提方法经过16步实现了机器人的自动对准,对准结束时机器人末端位姿的最大平移误差为3.26 mm,最大旋转误差为0.72°。相较于对比方法,该方法的控制过程更加高效,控制误差收敛更快,对准误差更小。实验结果表明,所提方法可以实现快速高精度的自动对准,能够提高机器人操作的自主性和智能化水平,有望应用于目标跟踪、拾取和定位、自动化装配、焊接、服务机器人等领域。     

基于WSNs的机房温控系统设计与实现

为了有效监控机房内温度情况,在机房内和设备内部署一定数量的传感器节点,采集并发送设备温度和环境温度信息至控制系统,利用Kriging算法模拟出机房内温度的分布情况并直观地展现在界面中,同时控制系统实时监测温度信息,当机房温度过高时,系统自动启动通风板和空调降温,当机房温度异常高时,系统向管理人员发出警报.     

Corporate-internal vs. national standard – A comparison study of two ergonomics evaluation procedures used in automotive manufacturing

Manufacturing corporations sometimes use corporate-internal procedures to evaluate and monitor the ergonomic status of the workplace. This article describes an industrial case study in the Swedish automotive sector, where an internally developed evaluation procedure was compared with a procedure based on a Swedish national standard provision.It was found that the national standard procedure tended to give more severe ratings and statistical support shows that the two evaluation procedures are not equivalent. The ability of the methods to identify body segments at risk was also compared.The quantitative comparison was followed up with interviews, where the influence of professional tasks and objectives became evident, as well as the fact that evaluation criteria are quantified differently by the two procedures. The main finding is that unforeseen differences in analysis procedure, criteria of acceptability and levels of detail can cause use-related difficulties for different professional groups when methods are used interchangeably.

Relevance to industry

Industrial corporations wishing to monitor ergonomics consistently are advised by the authors to ensure that ratings from internal evaluations are interpreted the same way by all involved personnel, and that they at least have criteria levels equivalent to those of a national standard.     

Ergonomic design of a railway traffic control room: A Serbian experience

The aim of the research presented in this paper is to perform an ergonomic evaluation of compatibility between control desk, display panel, and their control devices with operators’ capabilities in the process of railway traffic control. This paper covers the application of ergonomic criteria for designing the control room and its main elements, functional characteristics of operators, and the influence of illumination on operator’s work efficiency. The paper also introduces methodologies for anthropometric and kinesiological analysis of operators, ergonomic analysis of control desk and display panel, and analysis of illumination in the Railway Traffic Control Room in Nis, Serbia. The research also includes basic statistical parameters for body measures of operators, configuration, and dimension of control desk as a unit, ergonomic analysis of control desk buttons, ergonomic analysis of display panel and its elements, parameters for illumination level of control room, control desk and display panel, and uniformity of illumination and brightness. To establish a link between these research and cognitive demands, methods of cognitive analysis of control and management activities in control room and decision making in abnormal situation by using an operator’s stress model are presented. The importance of this approach is that ergonomic assessment of current condition will determine the inadequate design and the ergonomic approach to be used in the implementation of the analysed control room. The results given in this paper enable the beginning of reconstruction and design of new elements in the control room, which will lead to abettor optimized control of railway traffic.     

五坐标数控钻床的控制与通信的研究与实践

介绍了一种基于PCI总线的数据传输的设计思想和实现方寒，侧重介绍了人机交互、CPU、上位机、下位机之间的通信及数据的存储。