基于宏行为的侦察机器人事务执行机制研究

为了便于操作员在侦察现场进行事务规划,提出了基于宏行为的事务描述方法和事务执行机制．按照机器人对环境变化的响应方式的不同,将机器人的行为分成基本行为、组合行为和宏行为,给出了描述这些行为的方法和一个宏行为的设计实例．引入了基于RS模型的行为合成运算符合成机器人行为的方法,从而可以形式化地构建侦察机器人的事务描述．实现了能够解释和执行事务描述的、基于宏行为的事务执行器．仿真和实验结果表明提出的任务描述方法可行,事务执行器能够可靠地完成事务描述所规定的任务．     

TableSpec: Free Format Specification Table and Source Code Generation

Precise software specifications, free from error and misunderstanding related to the user's requirements, are essential to efficient development of effective software. Various methods and tools for software specification have been devised for this purpose, but they generally require a learning effort comparable to that of learning a new computer language. TableSpec was conceived and developed to eliminate this difficulty and improve the precision and accuracy of software specifications and source codes, based on the use of a free-format table of the same form as those employed intuitively in business and everyday life to express and implement logical constructs and calculations. The free-format table and related entries and conditions can be composed on a word processor, mainly by the user. The software engineer then adds identifiers to the table elements, thereby defining the logical structure of the table. From the content and identifiers, the TableSpec system automatically generates the subprogram source code, in Cobol or C. The result is improved ease and accuracy of specification entry and checking by the user, reduction of human error related to requirement, specification and coding, and complete correspondence among all three.     

Planetary exploration by a mobile robot: Mission teleprogramming and autonomous navigation

Sending mobile robots to accomplish planet exploration missions is scientifically promising and technologically challenging. We present in this paper a complete approach that encompasses the major aspects involved in the design of a robotic system for planetary exploration. It includes mission teleprogramming and supervision at a ground station, and autonomous mission execution by the remote mobile robot. We have partially implemented and validated these concepts. Experimental results illustrate the approach and the results.     

适用于程序规范说明的Institution范畴的完备性研究

Institution作为一般框架下的逻辑系统,在数据库理论、程序设计语言、模块化技术和人工智能等方面有着重要的应用。论文主要研究了Institution范畴的完备性,它直观上表明如果基调类可分解,那么它们对应的Institution也可分解。这为大规模程序设计中模块化程序的安全分解和调用提供了一定的逻辑支持。首先,根据基调类范畴中的极限r:SignD',构造了一个Institution&,讨论了&中的一些性质,特别是闭包引理和表示定理;然后又建立了Institution范畴Ins中相应的极限r:&D,得到了遗忘函子U:Ins→Sig反射极限的重要结论,从而推广了Sign:Th→Sign反射余极限的关键性结果;最后给出了Ins的完备性定理。     

Visual Specification of Systems with Heterogeneous Coordination Models

In this paper a prototype of a visual specification language called Visual Coordination Diagrams (VCD) for high-level design of concurrent systems with heterogeneous coordination models is presented. The key property of VCD is the separation of behavioral aspects from coordination aspects. We also highlight the heterogeneity of VCD which has two levels. At first, it allows different coordination models to be mixed in a particular specification. Secondly, different formalisms can be incorporated to VCD for specification of behavioral aspects. This paper contains an overview of the language followed with its formal definition. An example of using the language is also given.     

基于整数规划的多UCAV任务分配问题研究

在深入分析多UCAV任务分配问题的特点的基础上，提出了求解多UCAV协同任务分配的整数规划方法．通过设计决策变量和灵活地对各种约束条件形式化，建立了多UCAV任务分配问题的形式化模型．并以典型的UCAV任务SEAD为想定，进行了仿真验证与分析．仿真结果表明该模型可以较好地解决多UCAV协同作战的任务分配问题．     

Indoor MAV auto-retrieval using fast 6D relocalisation

This paper develops and evaluates methods for performing auto-retrieval of a micro aerial vehicle (MAV) using fast 6D relocalisation from visual features. Auto-retrieval involves a combination of guided operation to direct the vehicle through obstacles using a human pilot and autonomous operation to navigate the vehicle on its return or during re-exploration. This approach is useful in tasks such as industrial inspection and monitoring, and in particular to operate indoors in GPS-denied environments. Our relocalisation methodology contrasts two sources of information: depth data and feature co-visibility, but in a novel manner that validates matches before a RANSAC procedure. The result is the ability of performing 6D relocalisation at an average of 50 Hz on individual maps containing 120 K features. The use of feature co-visibility reduces memory footprint as well as removes the need to employ depth data as used in previous work. This paper concludes with an example of an industrial application involving visual monitoring from a MAV aided by autonomous navigation.     

A Behavior-based Classification and Retrieval Technique for Object-oriented Specification Reuse

This paper presents a classification and retrieval technique for object-oriented specification reuse, based on the assumption that existing specifications exhibiting behaviors similar to that of the system under development are appropriate for reuse. Existing specifications are classified and retrieved according to the semantic networks abstracted from their behaviors. Since semantic networks attach semantic meanings to certain degrees of detail, our technique is rather precise. Primary behavior is used to classify specifications because it can be obtained in the early phases of system analysis. Therefore, our technique allows early reuse. Moreover, subspecifications and classes of existing specifications are classified independently so that they can be retrieved for reuse separately. Thus, our technique encourages reusing subspecifications as well as classes. Since a subspecification is composed of classes and their relationships, reusing it corresponds to reusing all those classes and relationships. A technique that reuses subspecifications as well as classes is thus expected to save more time than those that reuse only classes.     

Real-Time Search for Autonomous Agents and Multiagent Systems

Since real-time search provides an attractive framework for resource-bounded problem solving, this paper extends the framework for autonomous agents and for a multiagent world. To adaptively control search processes, we propose -search which allows suboptimal solutions with error, and -search which balances the tradeoff between exploration and exploitation. We then consider search in uncertain situations, where the goal may change during the course of the search, and propose a moving target search (MTS) algorithm. We also investigate real-time bidirectional search (RTBS) algorithms, where two problem solvers cooperatively achieve a shared goal. Finally, we introduce a new problem solving paradigm, called organizational problem solving, for multiagent systems.     

嵌入式系统规范语言

规范语言是整个嵌入式系统设计方法学的核心。归纳总结了嵌入式系统规范语言的发展过程，并针对当前嵌入式系统的发展趋势。说明了嵌入式系统规范和规范语言的设计需求，进而介绍比较了两种重要的基于C／C＋＋语言的新的规范语言SystemC和SpecC，最后阐述了基于C／C＋＋的规范语言的看法，并展望了未来规范语言的发展。     

一个支持规约获取的形式规约语言

该文介绍了形式规约语言LFC设计的一些主要方面，并通过例子说明了LFC的一些特色。形式规约语言LFC是为支持软件形式规约的获取工作而开发的。该语言以一种新的递归函数，即定义在上下文无关语言上的递归函数为基础，以上下文无关语言为数据类型，在语言级支持规约获取。LFC语言已被用作形式规约获取系统SAQ的一部分。使用表明，LFC是一个能力强、易使用的语言，适合软件形式规约获取之用，并且适合其它一些用途。     

冶金规范及工艺卡技术在钢管企业中的应用

首先介绍冶金规范及工艺卡技术的产生与含义,然后从系统需求分析出发,介绍其整体结构、具体内容以及在钢管冶金企业中的地位与应用及其应用效果等。     

Multiagent Reinforcement Learning:Rollout and Policy Iteration

We discuss the solution of complex multistage decision problems using methods that are based on the idea of policy iteration(PI),i.e.,start from some base policy and generate an improved policy.Rollout is the simplest method of this type,where just one improved policy is generated.We can view PI as repeated application of rollout,where the rollout policy at each iteration serves as the base policy for the next iteration.In contrast with PI,rollout has a robustness property:it can be applied on-line and is suitable for on-line replanning.Moreover,rollout can use as base policy one of the policies produced by PI,thereby improving on that policy.This is the type of scheme underlying the prominently successful Alpha Zero chess program.In this paper we focus on rollout and PI-like methods for problems where the control consists of multiple components each selected(conceptually)by a separate agent.This is the class of multiagent problems where the agents have a shared objective function,and a shared and perfect state information.Based on a problem reformulation that trades off control space complexity with state space complexity,we develop an approach,whereby at every stage,the agents sequentially(one-at-a-time)execute a local rollout algorithm that uses a base policy,together with some coordinating information from the other agents.The amount of total computation required at every stage grows linearly with the number of agents.By contrast,in the standard rollout algorithm,the amount of total computation grows exponentially with the number of agents.Despite the dramatic reduction in required computation,we show that our multiagent rollout algorithm has the fundamental cost improvement property of standard rollout:it guarantees an improved performance relative to the base policy.We also discuss autonomous multiagent rollout schemes that allow the agents to make decisions autonomously through the use of precomputed signaling information,which is sufficient to maintain the cost improvement property,without any on-line coordination of control selection between the agents.For discounted and other infinite horizon problems,we also consider exact and approximate PI algorithms involving a new type of one-agent-at-a-time policy improvement operation.For one of our PI algorithms,we prove convergence to an agentby-agent optimal policy,thus establishing a connection with the theory of teams.For another PI algorithm,which is executed over a more complex state space,we prove convergence to an optimal policy.Approximate forms of these algorithms are also given,based on the use of policy and value neural networks.These PI algorithms,in both their exact and their approximate form are strictly off-line methods,but they can be used to provide a base policy for use in an on-line multiagent rollout scheme.     

面向交互的主体能力描述和推理方法研究

主体间的交互对主体能力的影响是主体能力描述和推理需要考虑的一个重要因素.给出了一个面向交互的主体能力描述和推理框架.该框架将描述逻辑中的知识表示结构和任务逻辑中的任务语义结合起来,可以显式地描述主体之间的交互关系对主体能力的影响并可提供可判定的推理服务.建立了一个用于任务可完成性判定的逻辑系统DTL,并证明了它是可靠、完备和可判定的.     

基于企业流程的需求形式化说明语言

需求说明是对需求分析结果所进行的文档化工作,其工作结果—需求规格说明在系统开发、测试、质量保证、项目管理中起着重要的作用。现有的需求规格说明绝大多数是采用自然语言来编写,由于自然语言在严密性上的缺陷,从而导致需求规格说明普通存在着三个严重的问题:模糊性、不准确性和不一致性。该文提出的基于企业流程的需求形式化说明语言,是以四元组作为描述机制,不仅能描述各活动之间的逻辑关系,而且能表达活动对信息流的操作形式,即将控制流和数据流合为一体。