自主飞艇浮力调节系统的建模及控制

针对特定结构的平流层信息平台——自主飞艇，建立了多气囊浮力调节动力学方程．将气囊浮力力矩平衡关系式引入方程组，使多输入双输出耦合系统简化为多输入单输出系统．控制系统分为两级：一级控制系统中，根据非零隶属度存立原则确定模糊控制量的输出，通过调节量化因子和比例因子，弥补了控制过程中专家经验的不足，满足了系统对不同控制阶段的性能要求；二级控制系统采用简单的模糊控制．数字仿真验证了该控制方法的可行性．     

Adaptive systems: from intelligent tutoring to autonomous agents

Computer systems which can automatically alter aspects of their functionality or interface to suit the needs of individuals or groups of users have appeared over the years in a variety of guises. Most recently, attention has focused on intelligent interface agents, which are seen as specialised, knowledge-based systems acting on behalf of the user in some aspect of the interaction. Similar requirements for automatic adaptation have been noted in intelligent tutoring systems, natural-language systems and intelligent interfaces. The paper brings together the research which has emanated from a number of backgrounds, and provides a unifying perspective on adaptive systems in general. An architecture for adaptive systems and a methodology for their development are presented. The paper also describes software support for producing adaptive systems, and offers some experimental evidence to justify both the desirability and feasibility of exploiting an adaptive system approach to human-computer interaction     

混合仿人智能图式的无人艇自主驾控系统设计

针对高度动态、不可预测的海洋环境,开展了无人艇智能运动控制系统的设计研究.首先本文利用认知学科的图式概念来分析人体运动控制系统的结构,提出一种混合式分层递阶结构,把人类的先验知识、专家经验融入到该结构中,并在实践中不断学习和完善,则形成了一种混合仿人智能图式;然后根据该图式的思想,设计了自主驾控系统的体系结构,并编制成简单实用、逻辑性强、能实时运行的控制流程;最后进行了无人艇的航线跟踪和安全自主航行的半实物仿真试验,仿真结果表明该无人艇可以安全的避开其他船舶并尽量跟踪航线.     

Towards intelligent autonomous control systems: Architecture and fundamental issues

Autonomous control systems are designed to perform well under significant uncertainties in the system and environment for extended periods of time, and they must be able to compensate for system failures without external intervention. Intelligent autonomous control systems use techniques from the field of artificial intelligence to achieve this autonomy. Such control systems evolve from conventional control systems by adding intelligent components, and their development requires interdisciplinary research. A hierarchical functional intelligent autonomous control architecture is introduced here and its functions are described in detail. The fundamental issues in autonomous control system modelling and analysis are discussed.     

World trends of importance to intelligent robotic CIM systems

The reduction to practice of the concept of computer-integrated manufacturing (CIM) has moved painfully slowly in the more than 20 years since it came into being. However, within the past five years a very important world trend has emerged, namely a major commitment on the part of industry toward realistic and substantial accomplishment, in practice, of full computer-based integration of the overall system of manufacturing. With the emergence of the goal of accomplishing fully robotic operation of the technological system of manufacturing, and of the concept of the intelligent manufacturing system, the overall trend has now become one toward realization, in practice, of the computer-integrated intelligent robotic manufacturing system. That trend has generated important corollary trends which fall into two main categories, namely, enabling technologies for integration of the system of manufacturing and enabling technologies for imparting artificial intelligence to that system, both of which are required for accomplishing fully robotic operation of the technological system of manufacturing.     

A survey of guidance,navigation, and control systems for autonomous multi-rotor small unmanned aerial systems

This survey paper presents a holistic perspective on the state-of-the-art in the design of guidance, navigation, and control systems for autonomous multi-rotor small unmanned aerial systems (sUAS). By citing more than 300 publications, this work recalls fundamental results that enabled the design of these systems, describes some of the latest advances, and compares the performance of several techniques. This paper also lists some techniques that, although already employed by different classes of mobile robots, have not been employed yet on sUAS, but may lead to satisfactory results. Furthermore, this publication highlights some limitations in the theoretical and technological solutions underlying existing guidance, navigation, and control systems for sUAS and places special emphasis on some of the most relevant gaps that hinder the integration of these three systems. In light of the surveyed results, this paper provides recommendations for macro-research areas that would improve the overall quality of autopilots for autonomous sUAS and would facilitate the transition of existing results from sUAS to larger autonomous aircraft for payload delivery and commercial transportation.     

无人系统智能技术发展和安全问题

随着人工智能技术的飞速发展,无人系统在给人们带来便利的同时,也随之而来了诸多安全隐患。本文首先介绍了地面、空中和海上无人系统的发展现状,从技术安全、应用安全风险方面阐述了人工智能技术的安全问题,然后分析了无人系统智能技术内涵,最后从通信与交互安全、算法安全两个角度阐述了无人系统的智能安全问题,可为相关研究提供参考。     

Measuring learning progress in intelligent autonomous robots

AI researchers claim to understand some aspect of human intelligence when their model is able to “emulate” it. In the contexts of mobile robots, the ability to go from teleoperation to autonomy should accordingly be treated not simply as a trick for robotics hackers but as an important epistemological and methodological goal. In this article the experience derived from designing locomotion control systems for both teleoperated and autonomous multi-legged articulated robots is described.     

System identification-based control of an unmanned autonomous wind-propelled catamaran

An autonomous catamaran, based on a modified Prindle-19 day-sailing catamaran and fitted with several sensors and actuators was built to test the viability of GPS-based system identification for precision control. Using an electric trolling motor for propulsion, and lead ballast to match all-up weight, several system identification passes were performed to excite system modes and model the dynamic response. The identification process used the Observer Kalman IDentification (OKID) method for identifying a linear time invariant plant model and associated pseudo-Kalman filter. System identification input was generated using a human pilot driving the catamaran on roughly straight line passes. A fourth order discrete time model was generated from the data, and showed excellent prediction results. Using these models, linear quadratic Gaussian (LQG) controllers were designed and tested with the electric trolling motor. These controllers demonstrated excellent line-tracking performance, with error standard deviations of less than 0.15 m. The wing-sail propulsion system was fitted, and these same controllers re-tested with the wing providing all propulsive thrust. Line-following performance and disturbance rejection were excellent, with the cross-track error standard deviations of approximately 0.30 m, in spite of wind speed variations of over 50% of nominal value.     

An integrated approach to the conceptual design and development of an intelligent autonomous mobile robot

This paper proposes a new approach to the design and development of an intelligent mobile robot and discusses the complex functional structure of such systems, providing solutions to some typical design problems. The proposed design approach provides a clearer view of the design problems from a function-oriented interdisciplinary point of view. The approach proves to be a useful tool in allowing the designer to cross the boundaries of technical disciplines and optimise the interdisciplinary system’s components, thereby improving the overall system performance. The paper also presents a case study where it takes the design problem from the most abstract level up to the final stage, in which the developed autonomous mobile robot’s specifications are verified and validated. The issues addressed in this paper include the design, development, systems integration, and experimental testing of the intelligent mobile robot.     

A path following control of an unmanned autonomous forklift

In this paper, the development of an unmanned autonomous forklift is discussed. A system configuration using vision, laser ranger finder, sonar, etc. for autonomous navigation is presented. The kinematics of a spin-turn mechanism is analyzed first, and then the obtained kinematics equations are transformed to the equations represented by path variables. These equations are nonlinear state equations to be used for control purposes. A time varying feedback control law via the chained form of Murray and Sastry [12] is derived. The effectiveness of the proposed control law is examined through simulations and experiments. Recommended by Editorial Board member Sooyong Lee under the direction of Editor Jae-Bok Song. This work was supported by the Korea Research Foundation Grant funded by the Korean Government (MOEHRD) (The Regional Research Universities Program/Institute of Logistics Information Technology). Tua Agustinus Tamba received the B.S. degree in Engineering Physics from Institute of Technology Bandung, Indonesia, in 2006. He is currently a graduate student at the School of Mechanical Engineering, Pusan National University, Busan, Korea. His research interests include control of unmanned vehicles and path planning technologies for autonomous robots. Bonghee Hong received the B.S., M.S., and Ph.D. degrees in Computer Science and Engineering from Seoul National University in 1982, 1984, and 1988, respectively. Dr. Hong joined the Department of Computer Science and Engineering at Pusan National University (PNU) in 1989 and now he is a Professor. Dr. Hong is the Director of the Research Institute of Logistics Information Technology (LIT) at PNU. Dr. Hong received the Korean Minister Award in 2006 and the University Excellence Innovation Award in 2007. His current research interests include theory of database systems, RTLS systems, RFID middleware, RFID database, and stream data processing. Keum-Shik Hong received the B.S. degree in Mechanical Design and Production Engineering from Seoul National University in 1979, the M.S. degree in Mechanical Engineering from Columbia University, New York, in 1987, and both the M.S. degree in Applied Mathematics and the Ph.D. degree in Mechanical Engineering from the University of Illinois at Urbana-Champaign (UIUC) in 1991. From 1991 to 1992, he was a Postdoctoral Fellow at UIUC. Since Dr. Hong joined the School of Mechanical Engineering at Pusan National University, Korea, in 1993, he is now a Professor. During 1982–85, he was with Daewoo Heavy Industries, Incheon, Korea, where he worked on vibration, noise, and emission problems of vehicles and engines. Dr. Hong serves as Editor-in-Chief of the Journal of Mechanical Science and Technology and serves as an Associate Editor in various IEEE and IFAC conferences editorial boards. He also served as an Associate Editor for the Journal of Control, Automation, and Systems Engineering and has been serving as an Associate Editor for Automatica (2000–2006) and as an Editor for the International Journal of Control, Automation, and Systems (2003–2005). His laboratory, Integrated Dynamics and Control Engineering Laboratory, was designated as a National Research Laboratory by the Ministry of Science and Technology of Korea in 2003. Dr. Hong received Fumio Harashima Mechatronics Award in 2003 and the Korean Government Presidential Award in 2007. He is a Member of ASME, IEEE, ICROS, KSME, KSPE, KIEE, and KINPR. Dr. Hong’s current research interests include nonlinear systems theory, adaptive control, distributed parameter system control, robotics, vehicle control, and innovative control applications to engineering problems.     

Current trends on ICT technologies for enterprise information systems

As business conditions change rapidly, the need for integrating business and technical systems calls for novel ICT frameworks and solutions to remain concurrent in highly competitive markets. A number of problems and issues arise in this regard. In this paper, four big challenges of enterprise information systems (EIS) are defined and discussed: (1) data value chain management; (2) context awareness; (3) usability, interaction and visualization; and (4) human learning and continuous education. Major contributions and research orientations of ICT technologies are elaborated based on selected key issues and lessons learned. First, the semantic mediator is proposed as a key enabler for dealing with semantic interoperability. Second, the context-aware infrastructures are proposed as a main solution for making efficient use of EIS to offer a high level of customization of delivered services and data. Third, the product avatar is proposed as a contribution to an evolutionary social, collaborative and product-centric and interaction metaphor with EIS. Fourth, human learning solutions are considered to develop individual competences in order to cope with new technological advances. The paper ends with a discussion on the impact of the proposed solutions on the economic and social landscape and proposes a set of recommendations as a perspective towards next generation of information systems.     

Identifying critical autonomous systems in the Internet

The Internet not only facilitates our daily activities, such as communication, entertainment and shopping but also serves as the enabling technology for many critical services, including finance, manufacturing, healthcare and transportation. On the other hand, a wide spectrum of attacks targets its communication infrastructure to disable or disrupt the network connectivity and traffic flow until recovery processes take place. Attacking all autonomous systems (ASes) in the Internet is typically beyond the capability of an adversary. Therefore, targeting a small number of ASes which results in the highest impact is the best strategy for attackers. Similarly, it is important for network practitioners to identify, fortify and secure those critical ASes to mitigate the impact of the attacks. In this study we introduce an intuitive and effective measure, IP address spatial path stress centrality, to assess and identify the critical ASes in the Internet. We compare IP address spatial path stress centrality to the three well-known and widely used centrality measures, namely customer-cone size, node degree and betweenness. We demonstrate that the proposed measure incorporates business relations and IP address spaces to achieve a better measure for identifying the critical ASes in the Internet.     

Long‐duration fully autonomous operation of rotorcraft unmanned aerial systems for remote‐sensing data acquisition

Recent applications of unmanned aerial systems (UAS) to precision agriculture have shown increased ease and efficiency in data collection at precise remote locations. However, further enhancement of the field requires operation over long periods of time, for example, days or weeks. This has so far been impractical due to the limited flight times of such platforms and the requirement of humans in the loop for operation. To overcome these limitations, we propose a fully autonomous rotorcraft UAS that is capable of performing repeated flights for long‐term observation missions without any human intervention. We address two key technologies that are critical for such a system: full platform autonomy to enable mission execution independently from human operators and the ability of vision‐based precision landing on a recharging station for automated energy replenishment. High‐level autonomous decision making is implemented as a hierarchy of master and slave state machines. Vision‐based precision landing is enabled by estimating the landing pad's pose using a bundle of AprilTag fiducials configured for detection from a wide range of altitudes. We provide an extensive evaluation of the landing pad pose estimation accuracy as a function of the bundle's geometry. The functionality of the complete system is demonstrated through two indoor experiments with duration of 11 and 10.6 hr, and one outdoor experiment with a duration of 4 hr. The UAS executed 16, 48, and 22 flights, respectively, during these experiments. In the outdoor experiment, the ratio between flying to collect data and charging was 1–10, which is similar to past work in this domain. All flights were fully autonomous with no human in the loop. To our best knowledge, this is the first research publication about the long‐term outdoor operation of a quadrotor system with no human interaction.     

基于鸽群行为机制的多无人机自主编队

受启发于无人机(unmanned aerial vehicle,UAV)编队飞行与生物群体社会性行为的相似性,本文提出了一种基于鸽群行为机制的多无人机自主编队控制方法.首先通过模仿鸽群特有的层级行为,建立了鸽群行为机制模型.该模型在已有群集模型基础上,采用有向图和人工势场理论对鸽群中的拓扑结构和领导机制进行建模.在深入分析无人机自主编队飞行仿生机理的基础上,设计了一种基于鸽群行为机制的无人机自主编队控制器.该控制器以鸽群行为机制模型为核心,还包含两个辅助环节,即控制指令解算器和状态转换器.最后,通过系列仿真实验验证了无人机群可在本文所设计的无人机自主编队控制器作用下形成预期的编队队形,并可在复杂长机运动条件下保持队形.