Intelligent decision support system for the adaptive control of a flexible manufacturing system with machine and tool flexibility

This paper describes an intelligent decision support system (IDSS) for real time control of a flexible manufacturing system (FMS). The controller is capable of classifying symptoms in developing the control policies on FMSs with flexibility in operation assignment and scheduling of multi-purpose machining centres which have different tools with their own efficiency. The proposed system is implemented by coupling of rule-based IDSS, simulation block and centralised simulation optimiser for elicitation of shop floor control knowledge. This posteriori adaptive controller uses a new bilateral mechanism in simulation optimiser block for offline training of IDSS based on multi-performance criteria simulation optimisation. The proposed intelligent controller receives online information of the FMS current state and trigger appropriate control rule within real-time simulation data exchange. Finally the FMS intelligent controller is validated by a benchmark test problem. Application of this adaptive controller showed that it could be an effective approach for real time control of various flexible manufacturing systems.     

基于任务的神经网络多传感器数据融合新方法

面向遥操作机器人系统对传感和控制的具体要求及条件,提出一种基于任务的神经网络多传感器数据融合新方法。根据遥操作过程中的不同任务,利用优化的神经网络算法,对双视觉、六维力／力矩、接近觉（数字／模拟）、指端力、关节角度等多种传感器信息进行融合决策,并实时地将融合结果反馈回上层控制系统。     

A BP neural network based information fusion method for urban traffic speed estimation

Obtaining comprehensive and accurate information is very important in intelligent traffic system (ITS). In ITS, the GPS floating car system is an very important approach for traffic data acquisition. However, in this system, the GPS blind areas caused by tall buildings and tunnels could affect the acquisition of traffic information and depress the system performance. Aiming at this problem, we developed a novel method employing a back propagation (BP) neural network to estimate the traffic speed in the GPS blind areas. When the speed of one road section is lost, we can use the speed of its related road sections to estimate its speed. The complete historical data of these road sections are used to train the neural network, using Levenberg-Marquardt learning algorithm. Then, the current speed of the related roads is used by the trained neural network to get the speed of the road section without GPS signal. We compare the speed of the road section estimated by our method with the real speed of this road section, and the experimental results show that the speed of this road section estimated by our method is better.     

基于智能模糊控制策略的有源消声

有源消声是一种有效的低频噪声控制方法，由于空间有源消声过程具有时变性和非线性，传统的自适应算法不能进行很有效的控制。本文采用智能模糊控制策略，建立了基于智能模糊控制策略的有源消声系统，通过实验与传统自适应控制算法的消声效果作对比分析，证明智能模糊控制器不但控制速度快，易于实现，而且消声效果明显优于后者，具有较大的应用推广价值。     

基于TCS230的颜色检测装置及其在智能装配机器人避障中的应用

为使机器人躲避路障,开发了基于TCS230的颜色检测装置．红外传感器或色标传感器作为检测颜色的手段无法实现场景中多种颜色分辨,而颜色检测装置中的传感器TCS230能够将颜色信号转变成为相对应的频率信号并传递给单片机,单片机获取频率信号后,应用测频程序分辨物体颜色,适用于多颜色分辨场合．该颜色检测装置装配到智能装配机器人上进行动态避障应用时,受到临界位置和振动等多种因素的影响,检测准确率不高．采用并行双测法和延时检测法解决了临界位置影响产生的误判,研发出T型槽联结双传感器结构和软件均值滤波方法,减少了运动过程中振动引起的测量误差．该装置应用到智能装配机器人的避障策略中,取得了良好的效果．该颜色检测装置的开发应用可以推广到工业生产相关的颜色分辨场合．     

多传感器融合的智能车定位导航系统设计

车辆定位导航系统实时、准确获取车辆位置对实现智能驾驶具有重要意义。针对传统定位导航系统存在的精度低、成本高、鲁棒性差等问题，基于GPS/INS(global positioning system /inertial navigation system,全球定位系统/惯性导航系统)、机器视觉和超声波雷达技术，设计了一种多传感器融合的智能车定位导航系统，旨在实现智能车在简单、结构化道路环境下的自动驾驶。利用GPS/INS技术实现智能车地理坐标获取，利用机器视觉技术实现智能车前方车道线检测，利用超声波雷达技术实现道路边沿检测，并对地理坐标、车道线和道路边沿数据进行深度融合，实现车道级定位导航。最后，进行了智能车定位导航现场测试，结果表明该系统满足车道级定位导航性能要求。研究结果表明，在简单、结构化道路环境下，多传感器融合的智能车定位导航系统结构简单，实际运行状况良好，可极大提高定位导航精度。     

高精度定位标定系统水下基准方位误差分析

水下基准(换能器)位置的精确测量是高精度定位标定系统的关键技术,它的方位精度直接影响到水声定位系统定位误差的计量。通过详细分析了水下基准安装柱扰曲形变、GPS定位误差、罗经测向误差、纵倾横摇角测量误差对高精度定位标定系统水下基准位置的影响。通过合理的工程数据假设,提出选用误差小于0.15m的高精度GPS,则水下基准的误差将稍大于0.3m的结论,为工程应用上的误差控制提供了可参考的理论数据。     

多自由度包装机器人人机交互控制方法

目的 为了在人机交互内容和形式复杂度较高,深度信息获取较为困难的背景下,解决多自由度包装机器人控制存在的控制鲁棒性较差问题,提出新的多自由度包装机器人人机交互控制方法.方法 利用Kinect传感器获取多自由度包装机器人信息,并以此为基础,通过信息熵方法计算人机交互复杂度,构建相应的人机交互控制体系,基于拉格朗日方程建立人机交互动力学模型,完成多自由度包装机器人人机交互信息深度获取;采用自适应模糊控制器控制多自由度包装机器人人机交互流程与界面,实现多自由度包装机器人人机交互的控制.选样六自由度包装机器人为实验对象,确定最佳自由参数,进行人工交互控制仿真实验.结果 实验结果显示,仿真实验中的多自由度包装机器人动作完成率平均值为89.6％,平均包装时间为1.542 min,控制鲁棒性较佳.结论 该控制方法大大提高了机器人控制的鲁棒性,有效提升了包装机器人的包装效率.     

地震数据采集无线同步技术研究

针对地震勘探中时间同步问题和其他数据采集领域的采集同步问题,设计并完善基于GPS授时技术的同步技术方案,利用GPS授时信号全方位、实时性、连续性和高精度的特点,以GPS的PPS信号为基准来校准本地时钟,采用单片机和无线通信技术实现数据采集同步。通过对无线遥测各道地震数据进行同步处理,解决了当地震勘探仪采集的道数增多时数据采集和存储的实时性问题,特别是解决了未来数字式检波器中独立同步和分时处理等关键问题。     

结合数据融合和数据挖掘技术的信息智能处理平台

数据融合技术能利用不同传感数据的冗余信息实现互补以提高信息处理的正确性；数据挖掘技术能从大量数据中挖掘和发现有价值和隐含的知识，用于建模和优化。本文研究结合数据融合和数据挖掘技术的信息智能处理平台，阐述了其功能和组成，知识表达和建模、知识推理和决策，并介绍了其在目标检测识别和医疗监护等领域的应用。     

办公空间智能空气管理系统设计研究

目的办公空间智能空气管理系统通过采用人工智能技术,依托物联网系统和交互设计,对办公空间中不同场所的空气质量进行自动监测和治理。方法通过智能空气管理系统中空气监测传感器对办公空间不同场所的室内空气进行实时监测,将信息上传到服务器进行数据分析,当室内空气污染指数、温度、干湿度等数值超过设定的适合工作环境的阈值,服务器发出命令,该房间的中央空调、空气净化器、新风系统、加湿器等相应设备自动清理空气中的污染物,调节温度和干湿度。结论利用开源硬件Arduino,ZigBee无线传输模块,按约定的协议,将空气监测传感器、空气管理设备和服务器连接起来进行信息交换和通信,构成一个智能空气管理系统,实现对办公空间空气质量的精准监测、智能控制与决策处理。     

基于物联网的疫苗冷藏箱温度监控系统的设计

目的 为满足疫苗运输在最后一公里的信息可视化和透明化的需求,研究一款信息型智能包装的远程温度监控系统。方法 通过结合物联网技术,设计一款基于GD32F330C8T6芯片为核心的子机节点与主机LoRa网关,以及基于Qt Creator 5.12软件和SQLite数据库编写的上位机软件,最终实现具体实例——远程温度监控系统,将子机节点硬件嵌入疫苗冷藏箱中,以及把多点测温探头置于箱内不同位置上,实现对疫苗冷藏箱温度的区间监控。结论 通过该温度远程监控系统,用户可以实时监测运输车内不同冷藏箱内的温度情况,超温时系统可自动闭合主机继电器模块开启外部制冷器,实现了疫苗冷藏箱智能包装。     

Vehicle Localization Using Sensors Data Fusion Via Integration of Covariance Intersection and Interval Analysis

Achieving an innovative integrated sensor fusion architecture with a robust vehicle navigation and localization using an extended Kalman filter, interval analysis and covariance intersection that can overcome the uncertainty in the system model and sensor noise statistics. There are various approaches to the problem, but here the focus is on an approach which can guaranteed performance of sensor-based navigation. The guaranteed performance is quantified by explicit bounds of position estimate of a ground vehicle. Ground vehicles generally carry dead reckoning sensors such as wheel encoders and inertial sensors, to measure acceleration and angle rate, while obstacle detection and mapmaking is done with time-of-flight ultrasonic sensors. Most of these sensors give overlapping or complementary information and sometimes are redundant as well, which offers scope for exploiting data fusion. The purpose here is to achieve data fusion for ground vehicles with low-cost sensors by forming an intelligent sensor system. This is accomplished by combining the sensors' measurements and processing these measurements with data fusion algorithms. The algorithms are complementary in the sense that they compensate for each other's limitations, so that the resulting performance of the sensor system is better than its individual components.     

Networked Predictive Control Over the Internet Using Round-Trip Delay Measurement

With the rapid development of network technology, the potential use of networked real-time control and automation is enormous and appealing. However, closed-loop control systems via the Internet are very difficult to implement practically due to their stochastic nature. The large and random time delay and data dropout caused by data transmission impact the performance of the control system and even result in system instability. To address this problem, this paper proposes a methodology to modify and enhance the conventional system so that it can be used over the Internet. This paper describes a model-based networked predictive control scheme based on round-trip time delay measurement rather than separate consideration of the feedback channel delay (between the sensor and controller) and the forward channel delay (between the controller and actuator), which successfully avoids the requirement of synchronization. It is required by many schemes but is actually hard to achieve over the Internet. Stability for both fixed and random network transmission delays is also investigated in this paper. To illustrate the control performance improvement of the proposed control scheme, the results ofoff-line simulations and real-time experiments via the Internet are presented.      

Research on Driver Fatigue Early Warning Method Based on ARM

Fatigue driving is one of the important reasons of road traffic accidents,fatigue driving is refers to the driver in a long time continuous driving or physical fatigue condition,and then come into being physiological and psychological function disorder. In order to overcome the limitation of single sensor in the fatigue test,aimed at the requirements of monitoring on the fatigue driving,this article designed an driver fatigue monitor system based ARM926EJ-S as a controller,it is used to determine the driver's fatigue and reduce the traffic acc ident. On the basis of fully considering the source correlation and complementary,it adopts the method of multi-source information fusion; by monitoring the pulse,heart rate,temperature of the human body,steering wheel grip strength to realized the fatigue level. The system of graphical interface adopts UCGUI. Finally,testing the main function modules of early warning system,the feasibility of the proposed early warning system is verified fusion.     

电动转向系统稳定性能与抗干扰性能的研究

对电动转向系统的稳定性进行了研究．分析了路面激励干扰、传感器噪声对系统性能的影响，并将传统的PD控制算法和H∞控制理论相结合．应用于转向控制系统的研究，设计了控制器。计算机仿真结果证明，所设计的电动转向系统具有良好的稳定性、能够有效地抑制路面高频激励干扰和转矩传感器测量噪声对系统的影响。     

Multi-agent hybrid shop floor control system

A manufacturing system is composed of many activities that can be monitored and controlled at different levels of abstraction. A shop floor can be considered an important level at which to develop a Computer Integrated Manufacturing system (CIM). However, a shop floor is the dynamic environment where unexpected events continuously occur, and impose changes to planned activities. To deal with this problem, the shop floor should adopt an appropriate control system that is responsible for the coordination and control of the manufacturing physical flow and information flow. In this paper, a hybrid control system is described with a shop floor activity methodology called Multi-Layered Task Initiation Diagram (MTD). The architecture of the control model identifies three levels; i.e. the shop floor controller (SFC), the intelligent agent controller (IAC) and the equipment controller (EC). The methodology behind the development of the control system is an intelligent multi-agent paradigm that enables the shop floor control system to be an independent, autonomous, and distributed system, and to achieve an adaptability to change the manufacturing environment.     

多轴速度同步偏差耦合控制

目的 解决传统印刷机、包装机各轴机械连接方式下,多电机同步控制存在的机械磨损严重、同步控制精度低等问题。方法 基于偏差耦合控制系统结构,将PID与神经网络控制相结合,提出一种径向基神经网络PID的多电机速度同步控制策略。结果 通过仿真可知,该算法相较于传统PID控制超调量更小,系统能够以较快的速度实现同步跟踪,速度同步精度明显高于PID控制。结论 该控制算法能够大大提升印刷机多轴同步控制的动态性能,可以有效提高印刷质量。     

Remote Sensing and Control of an Irrigation System Using a Distributed Wireless Sensor Network

Efficient water management is a major concern in many cropping systems in semiarid and arid areas. Distributed in-field sensor-based irrigation systemsoffer a potential solution to support site-specific irrigation management that allows producers to maximize their productivity while saving water. This paper describes details of the design and instrumentation of variable rate irrigation, a wireless sensor network, and software for real-time in-field sensing and control of a site-specific precision linear-move irrigation system. Field conditions were site-specifically monitored by six in-field sensor stations distributed across the field based on a soil property map, and periodically sampled and wirelessly transmitted to a base station. An irrigation machine was converted to be electronically controlled by a programming logic controller that updates georeferenced location of sprinklers from a differential Global Positioning System (GPS) and wirelessly communicates with a computer at the base station. Communication signals from the sensor network and irrigation controller to the base station were successfully interfaced using low-cost Bluetooth wireless radio communication. Graphic user interface-based software developed in this paper offered stable remote access to field conditions and real-time control and monitoring of the variable-rate irrigation controller.