移动边缘计算中基于中继辅助计算方法综述*

为了满足下一代网络在覆盖范围、部署成本以及容量方面的挑战,移动边缘计算（MEC）通常需要借助中继节点的辅助来完成计算密集型和延迟敏感型的任务。首先介绍了基于中继辅助MEC系统的基本架构,之后从任务卸载、资源分配和中继节点选择三方面对基于中继辅助MEC系统最新的研究方法进行归纳总结。更进一步,针对现有方法可能存在的问题与挑战进行了讨论与分析,并提出一些可行的解决方案为后续研究发展提供参考。     

基于群智感知的街景变化检测方法

移动群智感知数据包含的图像和时空情境信息可用于检测街景图像变化,但是群智感知数据通常是低质和不规范的。为了准确检测街景发生的变化,主要解决由拍摄视角差异引起的数据低质问题。首先,针对大视差问题采用图像配准方法初步对齐图像并提取出配准特征点;然后,基于配准特征点分布从图像中提取感兴趣区域;随后,针对差值图像的误检内容,提出基于面积和多特征点的筛选法去除误检区域;最后,结合边缘检测和超像素分割算法提取完整的变化对象。与MDFNet方法进行比较,实验结果显示：当街景发生变化时,该方法的F1-measure值为55.8%,增长6%,错误率为10.8%,降低24%;当街景无变化时,该方法的错误率为2.8%,下降28%。     

Robust pole assignment for incomplete nonlinear decoupling applied to robots

A robustness analysis and synthesis for incomplete nonlinear decoupling for a class of nonlinear systems is discussed. Rigid and elastic-joint robot models belong to this class. For the elastic case, a transformation facilitates the robustness analysis under a weak assumption. Charts with H ₁- and H - norms of closed-loop disturbance transfer functions of the nonlinear-decoupled system are presented for a robust pole assignment.     

Introducing autonomous aerial robots in industrial manufacturing

Although ground robots have been successfully used for many years in manufacturing, the capability of aerial robots to agilely navigate in the often sparse and static upper part of factories makes them suitable for performing tasks of interest in many industrial sectors. This paper presents the design, development, and validation of a fully autonomous aerial robotic system for manufacturing industries. It includes modules for accurate pose estimation without using a Global Navigation Satellite System (GNSS), autonomous navigation, radio-based localization, and obstacle avoidance, among others, providing a fully onboard solution capable of autonomously performing complex tasks in dynamic indoor environments in which all necessary sensors, electronics, and processing are on the robot. It was developed to fulfill two use cases relevant in many industries: light object logistics and missing tool search. The presented robotic system, functionalities, and use cases have been extensively validated with Technology Readiness Level 7 (TRL-7) in the Centro Bahía de Cádiz (CBC) Airbus D&S factory in fully working conditions.     

Safe and intuitive manual guidance of a robot manipulator using adaptive admittance control towards robot agility

Key areas of robot agility include methods that increase capability and flexibility of industrial robots and facilitate robot re-tasking. Manual guidance can achieve robot agility effectively, provided that a safe and smooth interaction is guaranteed when the user exerts an external force on the end effector. We approach this by designing an adaptive admittance law that can adjust its parameters to modify the robot compliance in critical areas of the workspace, such as near and on configuration singularities, joint limits, and workspace limits, for a smooth and safe operation. Experimental validation was done with two tests: a constraint activation test and a 3D shape tracing task. In the first one, we validate the proper response to constraints and in the second one, we compare the proposed approach with different admittance parameter tuning strategies using a drawing task where the user is asked to guide the robot to trace a 3D profile with an accuracy or speed directive and evaluate performance considering path length error and execution time as metrics, and a questionnaire for user perception. Results show that appropriate response to individual and simultaneous activation of the aforementioned constraints for a safe and intuitive manual guidance interaction is achieved and that the proposed parameter tuning strategy has better performance in terms of accuracy, execution time, and subjective evaluation of users.     

手机规范取证研究

着立法滞后,规范等问题,取证的方法．在司法实践中,涉及到手机的案件越来越多,手机取证的重要性日益突出,但在取证中却存在移动通信技术检验机构不完善,缺少高素质的取证人员,技术落后,缺乏取证的意识和流程不阻碍了手机电子证据在司法实践中的应用。文章针对手机取证中存在的问题,探讨了规范手机为手机取证的规范化提供理论参考。     

基于Android平台的手机木马关键技术分析

随着手机、PDA和各种移动接入设备的普及,越来越多的信息正从PC转移到手机等网络终端上,同时,利用这一终端设备的犯罪也逐渐增加。文章研究了Android平台下手机木马植入、Rootkit隐藏、信息获取和回传技术,并在此基础上分析了该平台下手机木马模型,以期有针对性的进行防护。     

基于REST架构的矿山数字移动办公平台

基于面向资源思想以及REST架构,首次提出了矿山资源抽象层的概念,将矿山中各个异构系统的功能、文档、界面、工作流等抽象为能够通过标准URI来唯一标识的抽象资源元数据,在决策或智能分析层通过对元数据的分析和处理来实现相应操作或得出相关的分析结果;提出了基于REST框架的矿山数字移动办公平台设计方案,并以神木张家峁矿业有限公司移动办公平台的建设为例,介绍了将多个异构系统快速集成在移动终端的实现方法。应用结果表明,该移动办公平台运行稳定,操作流畅,使得工作人员能够随时、随地、随手办公,大大提高了办公灵活性及效率。     

矿用救生舱环境监控系统软件的研究

给出了矿用救生舱环境监控系统的组成,主要介绍了该系统软件的功能设计、总体架构及界面设计方案。该系统软件可实时显示各传感器的运行状态和检测数据、舱内气体余量、电源电量、照明灯状态、空气净化状态、自动控制状态、舱门状态等,人机交互界面友好,操作简便。该软件经长期连续运行实验,工作正常,达到了设计要求。     

基于非线性PID的柔性两轮机器人运动控制

柔性两轮机器人是一种不稳定、非线性、强耦合系统。该系统的突出特点是在机器人的腰部装有柔性的机体结构,能够更好地模拟人和动物的生物动力学特性,具有更好的仿生性质,同时,系统的控制难度显著增大,为使机器人能够平衡直立运动,且具有较强的鲁棒性,提出了非线性PD的姿态平衡控制方法,实现了机器人的姿态平衡,并同时设计了PID航向差动控制结构驱动左右轮电机,使机器人能够完成直线行进、自旋、环绕等多种运动平衡模式。实验结果表明,机器人具有优良的平衡能力和机动性能,从而验证了方法的有效性。