Biologically Inspired Behaviour Design for Autonomous Robotic Fish

Behaviour-based approach plays a key role for mobile robots to operate safely in unknown or dynamically changing environments. We have developed a hybrid control architecture for our autonomous robotic fish that consists of three layers: cognitive, behaviour and swim pattern. In this paper, we describe some main design issues of the behaviour layer, which is the centre of the layered control architecture of our robotic fish. Fuzzy logic control (FLC) is adopted here to design individual behaviours. Simulation and real experiments are presented to show the feasibility and the performance of the designed behaviour layer.     

Moving robot’s mind of autonomous decentralized FMS and mind change control

This article describes the control of moving robots in an autonomous decentralized flexible manufacturing system (FMS) by changing the mind of the moving robot. In an autonomous decentralized flexible manufacturing system where a lot of moving robots operate, there are problems of path interference. There is an existing method which we have developed called AAA, and this is used to evade these interference problems. However, using this method, it is very difficult to grasp entirely the innumerable path interference situations that really occur. Therefore, to evade these unexpected situations flexibly, we propose a mind model, which is the complicated expression of combinations of three elements: stimulation vector, unit, and load. Even if a familiar situation happens, moving robots can make different actions when their mind is changed.     

Hayeks Katallaxie — Ein zukunftsweisendes Konzept für die Wirtschaftsinformatik?

The mobile and increasingly ubiquitous use of information technology leads to more dynamic, constantly self-reconfiguring networks. Their services are available anytime and anywhere; as software agents, they can make local, context-aware decisions. F. A. von Hayek developed a theory for economic coordination based on individual decision making. This paper presents the explanation concepts of economic self-organisation as at least one option for the design of decentralized coordination of information systems consisting of autonomous software agents with limited information processing capacity and incomplete information. Experiments using a multi-agent system show that a targeted change of this basic rule set directly influences the behaviour of the individual elements and indirectly the behaviour of the overall system.     

Autonomous decentralized community communication for information dissemination

To meet the increasing demand for real-time content delivery, the proposed autonomous decentralized community communication system offers an efficient information dissemination infrastructure with a decentralized architecture. ADCC's aim is to help end-user communities communicate and exchange information efficiently; to meet this goal, the system uses an application-level multicast technique that arbitrarily scales to large groups. The ADCC system also features a scalable community construction and maintenance scheme that eases the burden of organizing an online community network.     

Autonomous negotiation for resource allocation of multiple sectors in the TFT-LCD manufacturing industry

In a global TFT-LCD manufacturing enterprise, a central planning sector promises orders to maximize profit, while the production sector is responsible for minimizing costs and meeting delivery deadline. The two sectors frequently struggle with different preferences. The contradictory objectives raise conflict between the two sectors when developing an entire resource allocation plan for the enterprise. This study presents a novel negotiation framework and develops a mutually acceptable resource allocation plan via autonomous negotiation between sectors with different preferences. A mathematical model considering the major characters of the TFT-LCD industry is formulated. Individual sectors can employ preferred negotiation tactics to achieve their objectives with an acceptable level of trade-off. This study examines various negotiation tactics and compares the proposed decentralized model with a centralized solution. Negotiation experiments demonstrate a good resource allocation plan over a short time and the conflict between sectors can be resolved efficiently. The proposed autonomous negotiation facilitates smart operations management.     

基于多Agent的人工鱼群自组织行为算法

在基于认知的人工鱼行为模型的基础上,增加实现鱼群个体间通信及鱼群与环境交互的互操作行为模块,建立面向群体行为的人工鱼体系结构与模型。提出了一种基于多Agent的人工鱼群自组织行为的研究方法：将基于这种体系结构的人工鱼作为Agent,其能感知环境信息,产生意图,规划行为。建立鱼群中Agent的运动、捕食、逃逸模型,通过个体间的相互作用涌现出群体的自组织行为,从而实现对鱼群的逼真模拟。     

CPG model for autonomous decentralized multi-legged robot system—generation and transition of oscillation patterns and dynamics of oscillators

A central pattern generator (CPG) model is proposed for the gait-pattern generation mechanism of an autonomous decentralized multi-legged robot system. The topological structure of the CPG is represented as a graph on which two time evolution systems, the Hamilton system and a gradient system, are introduced. The CPG model can generate oscillation patterns depending only on the network topology and can bifurcate different oscillation patterns according to the network energy, which means that the robot can generate gait patterns by connecting legs and transit gait patterns according to such parameters as the desired speed.     

分布式多输入系统的自律鲁棒自适应分散控制

为了实现一类分布式多输入系统的分散鲁棒自适应控制, 基于状态扩张和反演干扰抑制控制, 提出一种自律鲁棒自适应分散控制的新方法. 结合直接反馈线性化和最优控制, 给出了自律最优鲁棒自适应分散控制的设计方法. 仿真结果表明, 所提出方法能够有效实现各子系统的自律鲁棒稳定、全系统整体鲁棒稳定和不确定参数自适应, 同时通过求解LMI, 具备了最优干扰抑制的功能.

     

Autonomous UAV path planning and estimation

Unmanned aerial vehicles (UAVs) have shown promise in recent years for autonomous sensing. UAVs systems have been proposed for a wide range of applications such as mapping, surveillance, search, and tracking operations. The recent availability of low-cost UAVs suggests the use of teams of vehicles to perform sensing tasks. To leverage the capabilities of a team of vehicles, efficient methods of decentralized sensing and cooperative path planning are necessary. The goal of this work is to examine practical control strategies for a team of fixed-wing vehicles performing cooperative sensing. We seek to develop decentralized, autonomous control strategies that can account for a wide variety of sensing missions. Sensing goals are posed from an information theoretic standpoint to design strategies that explicitly minimize uncertainty. This work proposes a tightly coupled approach, in which sensor models and estimation objectives are used online for path planning.     

Autonomous decentralized control and its application to the rapid transit system

A large scale control system has three intrinsic requirements of fault tolerance, on-line extension and maintenance for non-stop operation. For attaining these requirements, the new design philosophy for autonomous decentralized control system, called HAL (Harmonous, Autonomous and Localities) concept, has been proposed based on the biological analogy.The viewpoint of this concept is that it is quite normal for a system to have failed parts.Sufficient conditions for an autonomous decentralized control system are given that every subsystem is uniform and equal in function and structure, and utilizes only local information for control and coordination.As one of the applications to the system components of this new concept, ADL-Net (Autonomous Decentralized Loop Network) has been developed, where fault tolerance of the system is attained by giving autonomy for fault detection, recovery and transmission to every network control processor.The HAL concept has also been applied to the train traffic control system for subways with three intrinsic requirements for supporting their non-stop operations.     

一种基于免疫原理的自律机器人行为控制算法

生物体免疫系统是一个高度复杂的分布协调自适应系统。文章基于免疫学的细胞克隆选择学说和 Ｊｅｒｎｅ网络调节理论,介绍一种人工免疫系统模型及算法,并应用于自律移动机器人的行为控制研究,模拟实验结果表明,该算法能有效增强自律移动机器人在动态环境中的自适应能力。     

Wave CPG model for autonomous decentralized multi-legged robot: Gait generation and walking speed control

In this paper, we propose a method to control gait generation and walking speed control for an autonomous decentralized multi-legged robot by using a wave Central Pattern Generator (CPG) model. The wave CPG model is a mathematical model of nonlinear oscillators and generates rhythmic movements of the legs. The gait generation and the walking speed control are achieved by controlling the virtual energy of the oscillators (Hamiltonian). A real robot experiment showed the relationship to the Hamiltonian, the actual energy consumption and the walking speed, and the effectiveness of the proposed method was verified.     

软件人群体智能自律协调模型研究及应用

在智能自律分散系统的构建中引入面向服务的协调机制, 提出一种面向服务的软件人群体智能自律协调(SoftMan group intelligent autonomous coordination, SMGIAC)模型. 把服务共同体思想和全局规划有机结合起来, 考虑基于角色的服务发现/绑定策略, 构建面向服务的元组空间, 为群体协作提供统一的服务接口. 针对数字气田管网调度实际需求, 给出SMGIAC数学建模方法、分解协调引理及其子服务(流)构造算法. 实验对比结果说明, 比较现有案例匹配、专家推理两种方法, SMGIAC总体调度准确度有较大提高, 并克服了ReO软件使用不便、调度方案生成时间长的缺点.     

Internet of intelligent things and robot as a service

The development of computing and communication systems has gone through a spiral cycle of centralization and decentralization paradigms. The earliest computer systems are centralized mainframe computers. The paradigm moved to decentralized as networked stations became more dependable, extensible and cost-effective. The decentralized systems have their limitations and inconveniences. The virtualization and cloud computing paradigm creates a centralized system that appears to users to be a centralized system, where computing and communication resources are not in the client computers but in an integrated infrastructure that is accessible anywhere and anytime. Nevertheless, the implementation of the centralized infrastructure is equipped with decentralized and redundant resources, which makes the system more dependable as any component failures can be tolerated internally. The Internet of Things extends the cloud computing concept beyond computing and communication to include everything, particularly, the physical devices. This paper discusses the architectures, interfaces, and behaviors of intelligent devices connected to the cloud computing environment. Robot as a Service is the case study, which has all the key features of Internet of Intelligent Things: autonomous, mobile, sensing, and action taking. The goal is to further extend the centralized cloud computing environment into a decentralized system to complete another cycle of the spiral development. The idea of achieving the goal is through autonomous and intelligent mobile physical services or robots as services to form local pool of intelligent devices and that can make local decisions without communicate with the cloud.     

网络控制系统的网络安全研究

基于网络控制系统(networkedcontrolsystem,NCS)的基本概念,分析了NCS网络安全体系结构和动态需求,讨论了确保NCS网络安全的各种安全机制,提出了自律分散NCS安全体系策略,指出了如何设计具有自律可控性和自律可协调性的NCS安全体系的思想方法,并给出了相应的模型结构。     

Designing Stable Finite State Machine Behaviors Using Phase Plane Analysis and Variable Structure Control

This paper discusses how phase plane analysis can be used to describe the overall behavior of single and multiple autonomous robotic vehicles with finite state machine rules. The importance of this result is that we can begin to design provably stable group behaviors from a set of simple control laws and appropriate switching points with decentralized variable structure control. The ability to prove stable group behavior is especially important for applications such as locating military targets or land mines. In this paper, we demonstrate how phase plane analysis has been used to explain the behavior of a 16 cm³ autonomous line-tracking robot with four finite states. After which, the analysis is extended to include the design of a decentralized variable structure controller that guides multiple vehicles to a goal while avoiding each other.     

一种安全的多属性拍卖模型

网络拍卖不仅成为电子商务不可分割的部分,而且是自治Agent和多Agent系统(MAS)技术的重要应用领域.同时,拍卖作为一种有效的资源分配形式,在联盟生成等MAS问题中有着重要的应用,因而受到学者们越来越多的关注.拍卖的安全性、隐私性特征是拍卖研究的重要方面.给出了一个一般的多属性拍卖模型和一个安全的多属性拍卖协议--SVAMA协议,并证明了SVAMA的一些重要性质,如Strategy-proof等.并与已有的多属性拍卖和使用的安全方法进行了比较,部分改进了David,Brandt等人的工作.     

人工干预条件下多媒体联锁仿真研究

提出了人工干预条件下基于站场图的多媒体联锁仿真模型,给出了铁路站场信息和联锁关系的多媒体表达,解决了分散自律调度集中系统仿真环境研发的关键问题,实践证明,该模型符合仿真环境要求,效果良好。     

一种基于层次命名空间的RBAC管理模型

访问控制是一种重要的信息安全机制.基于角色访问控制(RBAC)提供了一种策略中立、具有强扩展性的框架,使访问控制机制具备了相当的灵活性.RBAC96和ARBAC97模型是基于角色访问控制的经典模型,其中ARBAC97定义了一系列的角色管理模型,实现了在RBAC模型基础上的分布式管理.但对于由多个自治的分支机构组成的大规模组织,ARBAC97模型存在授权关系复杂、允许越级操作以及角色名称必须全局惟一等不足.为了解决这些问题,提出了一种基于层次命名空间的RBAC模型——N-RBAC,使用命名空间来组织角色和资源,各命名空间之间的资源相互不可见.命名空间结构提供了良好的分布式RBAC管理能力,简化了角色继承结构的复杂性,并对局部自治的RBAC管理提供有力支持.