竞争型网络机器人体系结构研究

为了研究适用于强交互竞争型网络机器人系统的通用体系结构,提出并设计了分层的竞争型网络机器人体系结构.在该体系结构中,策略层的职责是识别对手的意图、评估威胁和生成策略.执行层的功能是克服由于观测噪声和时延等因素而造成的系统状态观测的不确定性,以及处理由于对方的敌意行动造成的己方的行动不确定性.物理接口层可将执行层的指令转化为控制机器人的底层命令.设计实现了一种高对抗度的竞争型网络机器人对弈系统——Tele-LightSaber.通过在实际Tele-LightSaber网络机器人平台上的实验,表明了该体系结构的实用性和优越性.     

竞争型遥操作机器人系统的研究

针对军事、反恐等领域遥操作机器人特点,首次系统地提出竞争型机器人遥操作系统的概念,并将其与传统协作型机器人遥操作系统进行比较分析,从而得出竞争型机器人遥操作系统的研究重点和特点．在此基础上,构建了一个基于网络的竞争型机器人对弈系统,为今后该方向的研究提供了新的思路．     

Tele-LightSaber——一种高对抗度竞争型网络机器人系统

竞争型网络机器人系统具有交互性强、对实时性要求高等特点．为了研究适用于强交互竞争型网络机 器人系统的控制模式和控制方法,本文设计并实现了一种高对抗度的竞争型网络机器人作业Tele-LightSaber,并在 此基础上提出了将上层人工遥操作与底层视觉伺服相结合的控制模式．最后,分别利用本文提出的控制模式与传统 人工遥操作模式对Tele-LightSaber 作业进行控制,实验结果表明,本文提出的控制模式具有更强的实时性以及更小 的跟踪误差．     

面向竞争型网络机器人的运动目标快速检测

搭建了基于高速视觉的竞争型网络机器人系统.通过对比选取并融合了多种识别方法,设计了一套面向竞争型网络机器人的目标快速识别跟踪算法.采用动态窗口技术,并通过对不同传统方法的改进,进一步提高了该算法的实时性.本文方法能够在较复杂的背景下跟踪运动的目标机器人,具有较小的运算量及较好的鲁棒性.实验结果表明,该算法处理640×4...     

中医药主题搜索网络机器人的设计与实现

主题搜索网络机器人的研究对于主题搜索引擎整体性能的提高具有重要意义.鉴于国内尚缺少专门面向中医药主题的搜索引擎,针对中医药信息的特点提出了中医药主题搜索网络机器人的搜索策略和系统结构,描述了系统的基本工作流程.结合Java I/O流、套接字编程、多线程编程、中文分词和数据库JDBC 连接等技术,设计和实现了中医药主题搜索网络机器人系统.面向中医药主题对如何提高主题搜索网络机器人的搜索效率和精度进行了有益的探索,对其它主题搜索网络机器人的研究和开发具有一定的借鉴作用.     

基于竞争型网络的连续属性离散化方法

连续属性的离散化是粗糙集理论的主要问题之一.针对粗糙集理论只能处理离散数据的局限性,提出基于属性决策表和竞争型网络的连续属性离散化方法.首先使用条件属性与决策属性之间的决策关系来度量条件属性的重要性,并据此对条件属性按照重要性由小到大排序,然后利用竞争型网络分类功能找到连续属性的断点,从而实现了对连续属性的离散化.算法分析和实验证明算法是切实可行的.     

电子产品闭环供应链网络设计与弹性管理研究

研究了基于竞争型再制造商的闭环供应链网络设计中的弹性管理问题。首先建立了集逆向回收、拆解和分解于一体的逆向回收网络的竞争型一般模型。然后提出了供应链弹性管理方法,结合供应链网络设计的一般模型,建立了逆向弹性回收网络。针对逆向各级回收商的失效性,采用逆向多源供应的弹性架构。最后考察了不同的期望容忍水平、全球供应链以及企业社会责任对于目标函数、逆向弹性架构和竞争型再制造商的影响。     

基于网络的机器人控制技术研究现状与发展

随着网络技术的飞速发展，传统的机器人控制技术与先进的网络通讯技术不断融合 ，使基于网络的机器人控制技术也得以不断发展．本文首先介绍了国内外基于网络的机器人 控制技术的研究现状，对其研发的技术特点和应用领域进行了着重分析，并对这一研究领域 的发展方向进行了探讨．     

中医药主题搜索网络机器人的设计与实现

主题搜索网络机器人的研究对于主题搜索引擎整体性能的提高具有重要意义。鉴于国内尚缺少专门面向中医药主题的搜索引擎,针对中医药信息的特点提出了中医药主题搜索网络机器人的搜索策略和系统结构,描述了系统的基本工作流程。结合Java I/O流、套接字编程、多线程编程、中文分词和数据库JDBC连接等技术,设计和实现了中医药主题搜索网络机器人系统。面向中医药主题对如何提高主题搜索网络机器人的搜索效率和精度进行了有益的探索,对其它主题搜索网络机器人的研究和开发具有一定的借鉴作用。     

世界多机器人技术的研究现状

多机器人技术是机器人技术发展的一个新方向,开始于２０世纪７０年代,随着机器人技术的发展和对多机器人系统需求的增加,越来越多的研究者开始进行多机器人技术的研究,本文简要回顾了多机器人技术的发展历史,并对此领域内的主要研究内容如此控制结构,通信方式和冲突的解决等作了分析和介绍。     

A robotic service framework supporting automated integration of ubiquitous sensors and devices

In recent years, due to the emergence of ubiquitous computing technology, a new class of networked robots called ubiquitous robots has been introduced. The Ubiquitous Robotic Companion (URC) is our conceptual vision of ubiquitous service robots that provides its user with the services the user needs, anytime and anywhere, in the ubiquitous computing environments. There are requirements to be met for the vision of URC. One of the essential requirements is that the robotic systems must support ubiquity of services. This means that a robot service must always be available even though there are changes in the service environment. More specifically, a robotic system needs to be interoperable with sensors and devices in its current service environments automatically, rather than statically pre-programmed for its environment. In this paper, the design and implementation of an infrastructure for URC called Ubiquitous Robotic Service Framework (URSF) is presented. URSF enables automated integration of networked robots in a ubiquitous computing environment by the use of Semantic Web Services Technologies.     

基于科学计量的世界人工智能领域发展状况分析

分析了人工智能领域近15年的发展状况,预测了未来的发展趋势,帮助研究人员快速掌握领域概况。 运用SciMAT软件进行关键词共现分析,利用生成的主题演化图、战略图揭示发展状况及子领域成熟度,预测未来发展趋势。2002-2016年,人工智能领域发文量及关键词总数总体呈上升趋势,说明该领域发展势态良好。随时间推移,各阶段类团数增多,说明该领域多方面发展。神经网络、智能机器人一直是人工智能领域研究的热点,且研究规模随着时间的推移不断扩大并逐步走向成熟。人工智能正发生从理论到应用的转变;神经网络、智能机器人将会是未来人工智能领域发展的热门。     

Building Terrain-Covering Ant Robots: A Feasibility Study

Robotics researchers have studied robots that can follow trails laid by other robots. We, on the other hand, study robots that leave trails in the terrain to cover closed terrain repeatedly. How to design such ant robots has so far been studied only theoretically for gross robot simplifications. In this article, we describe for the first time how to build physical ant robots that cover terrain and test their design both in realistic simulation environments and on a Pebbles III robot. We show that the coverage behavior of our ant robots can be modeled with a modified version of node counting, a real-time search method. We then report on first experiments that we performed to understand their efficiency and robustness in situations where some ant robots fail, they are moved without realizing this, the trails are of uneven quality, and some trails are destroyed. Finally, we report the results of a large-scale simulation experiment where ten ant robots covered a factory floor of 25 by 25 meters repeatedly over 85 hours without getting stuck.     

基于深度强化学习的机器人运动控制研究进展

复杂未知环境下智能感知与自动控制是目前机器人在控制领域的研究热点之一,而新一代人工智能为其实现智能自动化赋予了可能.近年来,在高维连续状态-动作空间中,尝试运用深度强化学习进行机器人运动控制的新兴方法受到了相关研究人员的关注.首先,回顾了深度强化学习的兴起与发展,将用于机器人运动控制的深度强化学习算法分为基于值函数和策略梯度2类,并对各自典型算法及其特点进行了详细介绍;其次,针对仿真至现实之前的学习过程,简要介绍5种常用于深度强化学习的机器人运动控制仿真平台;然后,根据研究类型的不同,综述了目前基于深度强化学习的机器人运动控制方法在自主导航、物体抓取、步态控制、人机协作以及群体协同等5个方面的研究进展;最后,对其未来所面临的挑战以及发展趋势进行了总结与展望.     

Design and implementation of a novel hybrid quadruped spherical mobile robot

Spherical mobile robots are a novel type of mobile robots having some advantages in motion over other ordinary mobile robots. The advantages can be related to their symmetric spherical shape. Despite many works being conducted in recent years on spherical mobile robots, it seems that finding the best driving mechanism with higher efficiency still needs much research. In this article, a novel type of spherical mobile robot is introduced. This robot has a hybrid structure of the spherical robots and ordinary four legged or quadruped robots. Adding legs to the spherical robot reduces some disadvantages of its behavior. After introduction of the mentioned robot, its dynamic model based on Lagrange equations is obtained. The accuracy of the developed dynamic model in tracking a trajectory is verified through a dynamic simulation. Experimental results in tracking a square trajectory is presented to show the verification.     

Multiagent-Based Multi-team Formation Control for Mobile Robots

In the field of formation control, researchers generally control multiple robots in only one team, and little research focuses on multi-team formation control. In this paper, we propose an architecture, called Virtual Operator MultiAgent System (VOMAS), to perform formation control for multiple teams of mobile robots with the capabilities and advantages of scalability and autonomy. VOMAS is a hybrid architecture with two main agents. The virtual operator agent handles high level missions and team control, and the robot agent deals with low level formation control. The virtual operator uses four basic services including join, remove, split, and merge requests to perform multi-team control. A new robot can be easily added to a team by cloning a new virtual operator to control it. The robot agent uses a simple formation representation method to show formation to a large number of robots, and it uses the concept of potential field and behavior-based control to perform kinematic control to keep formation both in holonomic and nonholonomic mobile robots. In addition, we also test the stability, robustness, and uncertainty in the simulation. This research was supported by the National Science Council under grant NSC 91-2213-E-194-003.     

深度学习在智能机器人中的应用研究综述

机器人发展的趋势是人工智能化,深度学习是智能机器人的前沿技术,也是机器学习领域的新课题。深度学习技术被广泛运用于农业、工业、军事、航空等领域,与机器人的有机结合能设计出具有高工作效率、高实时性、高精确度的智能机器人。为了增强智能机器人在各方面的能力,使其更智能化,介绍了深度学习与机器人有关的研究项目与深度学习在机器人中的各种应用,包括室内和室外的场景识别、机器人的工业服务和家庭服务以及多机器人协作等。最后,对深度学习在智能机器人中应用的未来发展、可能面临的机遇和挑战等进行了讨论。     

An active hybrid parallel robot for minimally invasive surgery

During the last years, there has been an increase in research in the field of medical robots. This trend motivated the development of a new robotics field called “robotic-assisted minimally invasive surgery”. The paper presents the kinematic and dynamic behavior of a parallel hybrid surgical robot PARASURG-9M. The robot consists of two subsystems: a surgical robotic arm, PARASURG 5M with five motors, and an active robotized surgical instrument PARASIM with four motors. The methodology for the robot kinematics is presented and the algorithm for robot workspace generation is described. PARASURG-9M inverse dynamic simulation is performed using MSC Adams and finally some numerical and simulation results of the developed experimental model with its system control are also described.