The privileged sensing framework: A principled approach to improved human-autonomy integration

ABSTRACT

A primary goal for human-autonomy integration (HAI) is to balance the strengths of human and autonomy in order to achieve performance objectives more efficiently and robustly than either the human or autonomous agents would independently. This paper proposes the Privileged Sensing Framework (PSF) as a novel approach to HAI. This approach is based on the concept of dynamically ‘privileging’ information during the process of integration by dynamically bestowing special rights based on the characteristics of each individual agent, the task context, and the performance goals. The proposed framework is tested through a series of simulation experiments that provide a clear demonstration of increased accuracy and throughput of human-autonomy performance. These proof-of-concept simulations provide initial evidence of the utility of the PSF. Continued development of this approach has the potential to revolutionise capabilities of multi-agent cooperative teams across a broad range of applications.     

Experimental deformation analysis of an adhesively bonded multi-material joint for marine applications

The strength and deformation of full-scale adhesively bonded multi-material joints is studied in this paper. Four joints with a thick layer of methyl methacrylate adhesive (MMA) have been manufactured in shipyard conditions. In two specimens, cracks have been introduced at steel–adhesive and composite–adhesive interfaces. One cracked and one un-cracked specimen were subjected to quasi-static tensile testing; the two remaining specimens were stepwise loaded/unloaded with increasing load until failure. The strain in the adhesive layers was measured with digital image correlation (DIC). This showed a predominant shear deformation and dissimilar shear strain patterns for different bond lines. Fibre Bragg (FBG) sensors were used to monitor strains at steel and composite constituents and to detect the onset and evolution of damage in the un-cracked specimen. Strains measured by FBG sensors correspond well with DIC results at nearby regions. All specimens failed by delamination of the composite panel near the composite–adhesive interface.     

大型煤炭建工集团管理信息系统

介绍了中平能化建工集团管理信息系统的总体设计方案、网络及软件平台架构、子系统功能模块组成等。该系统采用智能客户端网络架构和万向接口平台技术,实现了建工企业的全部专用功能以及各个子系统之间的信息交互,使得各机构之间能够有效地协同运作。     

哈工大软件学院“MSE+X”软件工程硕士跨国联合培养项目(英文)

In the information time,the information technology and industry plays more and more important role in development of economy,promoting the world to be unified and emphasizing the globalization through such tendency of their own.The IT application area also becomes larger and diverse through the mergence of multiple disciplines and multiple domains.IT industry demands the inter-disciplinary talent,who are believed to be industrialized,internationalized,and equipped with multi-disciplinary and inter-domain knowledge,and the ability of international competence.Facing the challenge of the new globalization tendency of international industry especially the IT and software industry,universities keep make great efforts to provide qualify graduates to fulfill the demand of industry.This paper introduces a novel joint Master programme which aims at establishing an international education system and platform.The schema,the characteristics,the execution principles are discussed wishing to share our practice and experience with our education colleagues.     

基于改进GA的救援物资中转网点定位

针对大规模救援物资调运的多目标中转运输网点定位问题,考虑运输费用、中转网点的作业变动费用和运输时间,建立一个救援物资中转运输网点的非线性多目标混合整数规划模型。为有效求解该模型,提出一种基于矩阵编码的遗传算法,利用费用矩阵标杆的寻优导向信息提高遗传变异算子的局部搜索能力,提高全局收敛速度。通过算例分析验证该模型和算法的有效性。     

Adaptive neural control for an uncertain robotic manipulator with joint space constraints

In this paper, adaptive neural tracking control is proposed for a robotic manipulator with uncertainties in both manipulator dynamics and joint actuator dynamics. The manipulator joints are subject to inequality constraints, i.e., the joint angles are required to remain in some compact sets. Integral barrier Lyapunov functionals (iBLFs) are employed to address the joint space constraints directly without performing an additional mapping to the error space. Neural networks (NNs) are utilised to compensate for the unknown robot dynamics and external force. Adapting parameters are developed to estimate the unknown bounds on NN approximations. By the Lyapunov synthesis, the proposed control can guarantee the semi-global uniform ultimate boundedness of the closed-loop system, and the practical tracking of joint reference trajectory is achieved without the violation of predefined joint space constraints. Simulation results are given to validate the effectiveness of the proposed control scheme.     

The distributionally robust complementarity problem

We investigate the linear complementarity problem with uncertain parameters (ULCP) which affect the linear mapping affinely or quadratically. Assuming that the distribution of the uncertain parameters belongs to some ambiguity set with prescribed partial information, we formulate the ULCP as a distributionally robust optimization reformulation named as the distributionally robust complementarity problem (DRCP), which minimizes the worst case of an expected complementarity measure with a joint chance constraint that the probability of the linear mapping being nonnegative is not less than a given level. Applying the cone dual theory and S-procedure, we conservatively approximate the DRCP as a nonlinear semidefinite programming (NSDP) with bilinear matrix inequalities, which can be solved by the NSDP solver PENLAB. The preliminary numerical test on a constrained stochastic linear quadratic control problem shows that the DRCP as well as the corresponding solution method is promising.     

Cooperation and profit allocation in two-echelon logistics joint distribution network optimization

Collaborative two-echelon logistics joint distribution network can be organized through a negotiation process via logistics service providers or participants existing in the logistics system, which can effectively reduce the crisscross transportation phenomenon and improve the efficiency of the urban freight transportation system. This study establishes a linear optimization model to minimize the total cost of two-echelon logistics joint distribution network. An improved ant colony optimization algorithm integrated with genetic algorithm is presented to serve customer clustering units and resolve the model formulation by assigning logistics facilities. A two-dimensional colony encoding method is adopted to generate the initial ant colonies. Improved ant colony optimization combines the merits of ant colony optimization algorithm and genetic algorithm with both global and local search capabilities. Finally, an improved Shapley value model based on cooperative game theory and a cooperative mechanism strategy are presented to obtain the optimal profit allocation scheme and sequential coalitions respectively in two-echelon logistics joint distribution network. An empirical study in Guiyang City, China, reveals that the improved ant colony optimization algorithm is superior to the other three methods in terms of the total cost. The improved Shapley value model and monotonic path selection strategy are applied to calculate the best sequential coalition selection strategy. The proposed cooperation and profit allocation approaches provide an effective paradigm for logistics companies to share benefit, achieve win–win situations through the horizontal cooperation, and improve the negotiation power for logistics network optimization.     

基于规则和统计相结合的西里尔蒙古文到传统蒙古文转换方法

西里尔蒙古文与传统蒙古文分别是蒙古国与中国使用的蒙古文,西里尔蒙古文到传统蒙古文的转换工作不仅给两国同胞的交流带来更多的便利,而且对蒙古族的科学、文化和教育发展具有重要意义。本文结合规则与统计模型的优点,研究了西里尔蒙古文到传统蒙古文的转换方法。本文首先采用基于规则的方法对西里尔蒙古文集内词进行转换,其次对集外词的转换采用了基于联合序列模型的方法,并采用N-gram语言模型解决了一个西里尔蒙古文单词对应多个传统蒙古文单词的问题。实验结果表明,该系统单词转换错误率低至4.12%,基本达到了实用要求。     

乌江梯级水电站联合优化调度效果分析——以应对20081106洪水为例

综合分析了应对20081106洪水的乌江梯级水电站联合调度效果及经验,并应用多元线性回归方法构建了乌江梯级水电站总发电量拟合模型,识别影响乌江梯级水电站发电量的关键因素及影响程度。结果表明,洪家渡和东风流域累计平均降雨在2008年10月和11月期间,分别比多年平均同期偏多40%～54%和71%～112%,经乌江梯级水电站联合优化调度后,梯级综合月末可用水量分别比2005～2007年同期偏高136%和162%,梯级综合发电量比2005～2007年同期分别偏多9%和141%,梯级水电站联合优化调度效果显著,且出库流量及龙头电站洪家渡的水位和月末可用水量是影响乌江梯级总发电量的决定性因素。研究结果对于从梯级水电站联合调度角度减缓极端天气事件对水电行业的影响具有重要的参考价值。