基于Internet的拟人双臂机器人遥操作系统的研究

为了解决多操作者-多机器人遥操作系统所存在的问题,减小网络时延对遥操作性能的影响,提出了一种基于Internet的"单机-单操作者-多人机交互设备-多机器人"的遥操作体系结构,并讨论了系统的各部分功能和基于虚拟斥力场的协调控制策略.根据作业空间和任务不同,提出了相应的分区控制方式,提高了工作效率.最后,进行了拟人冗余度双臂协调装配实验研究,验证了方法和系统的可行性.     

基于智能控制器的网络遥操作体系结构及控制策略研究

遥操作技术的发展趋势是提高机器人的自主性。为实现这一目标，提出了一种基于Agent的网络遥操作体系结构，分析了Agent结构和功能，讨论了各个子系统的功能及相应策略，并且提出了系统整体控制策略。Agent可以主动适应环境和理解人的意图，从而提高了系统的智能，简化了系统结构，增强了系统的扩展性和通用性。最后，通过空间卫星舱更换晶体生长炉棒料实验进行了验证。     

机械臂遥操作典型任务特征分析与仿真实现

目的提取机械臂遥操作典型任务执行过程中的关键特征,建立适合于实验研究层面鲁棒性好、抽象化的遥操作任务仿真实验系统。方法分析几种典型空间站机械臂遥操作任务认知过程,提取其共同特征,建立具有极强代表性的抽象化任务。结果构建了"点对准"、"线对准"与"面对准"三类单人操作任务,"团队合作"与"团队协调"两类团队任务,并基于V-REP平台实现机械臂遥操作仿真实验训练系统。结论机械臂遥操作任务的抽象化结果可应用于遥操作类任务人机交互基础研究,仿真实验系统也可推广到机器人遥操作训练方法研究。     

基于立体视觉的机器人焊接遥操作研究

研究了在立体视觉辅助下的机器人焊接遥操作技术.将立体视觉显示技术和机器人遥操作技术相结合,显著提高了焊接遥操作系统的操作性能.自主开发了基于PC的页面交互显示的立体视觉系统,以空间鼠标作为输入机器人控制命令的手控器,精确地控制远端焊接机器人的定位和跟踪焊缝.深入研究了手动跟踪焊缝的控制算法和遥控示教技术,以提高焊接遥操作的灵活性.焊接遥操作在立体视觉辅助下比二维视频监控辅助下跟踪焊缝的精度有大幅度提高,能够遥控示教空间曲线焊缝,系统操作简单,灵活.     

基于视觉临场感的机器人遥操作系统

介绍了基于视觉临场感的机器人遥操作系统。该系统有机地把视觉临场感技术和机器人遥操作技术结合在一起,显著地提高了遥操作系统的性能。系统自主研制了视觉临场感系统,在普通的微机上实现了时分多路的立体视觉系统。自主研制了ＰＳＤ实时测量和位姿解算系统,实现了操作者的手部位姿的实时测量。深入地研究了机器人实时跟踪控制的算法,并在原有ＰＵＭＡ５６０机器人的基础上改造了核心控制软件,实现了机器人对操作者手部运动的     

面向空间应用的主从与自主式遥操作系统研究

给出了一种遥操作系统实现方法，在所建立的遥操作系统上实现了具有双向力反应的主从装配操作和基于环境模型的自主搭积木操作。研究了大时延条件下的仿真预测遥操作方法和局部自主控制方法、从动机器人自由到受限运动的稳定过渡问题和机器人任务规划及路径规划问题。     

ROBOCUP小型机器人串级控制系统的实现

 机器人足球是集视觉处理技术、无线通讯技术、电机控制技术、智能决策对象等多种技术的综合系统,是当前人工智能和机器人领域的研究热点之一．简要介绍了ROBOCUP小型机器人足球系统框架,对小车子系统的电机控制电路部分引入串级控制,通过DSP芯片及传感元件对电机速度和电机电流实现双闭环控制,提高了机器人速度响应的性能指标．     

基于网络的空间机器人遥操作体系结构

提出了一种面向Ｉｎｔｅｒｎｅｔ的遥操作空间机器人共享控制体系模型,阐述了基于远端监控遥操作和近端智能自主控制相融合的遥操作控制结构,完成了时延情况下从Ｉｎｔｅｒｎｅｔ上操作拥有１５个自由度的智能机器人臂手集成系统。该系统采用基于国际互连网的主从控制结构,在多媒体交互和预测显示仿真技术的辅助下,实现了用户在广域网上控制实验室的机器人完成抓杯倒水等动作。     

基于虚拟现实的一对多远程康复训练机器人监控系统

针对国内传统的一对一的康复训练不能满足日益增长的康复训练需求的问题,研究设计了基于虚拟现实的网络化远程康复训练机器人系统.该系统引入虚拟现实技术使康复训练界面生动活泼,将运动疗法和心理治疗有机地结合在一起,解决了传统康复训练的枯燥乏味;引入遥操作机器人技术使医生可同时远程监控多个患者的康复训练,医生通过语音与患者端进行...     

基于视觉足球机器人无线通讯子系统的设计

 机器人足球是集成视觉技术、通讯技术、侍服控制技术、决策对象等多种技术的综合系统,是当前人工智能和机器人领域的研究热点之一．在简要介绍机器人足球系统架构基础上,针对其通讯子系统提出了设计与实现方案,采用蓝牙核心技术的NRF401无线通讯芯片与双MCU的接收电路设计,为系统提供了高效可靠的通讯平台．     

MIMO-Terahertz in 6G Nano-Communications: Channel Modeling and Analysis

With the development of wireless mobile communication technology, the demand for wireless communication rate and frequency increases year by year. Existing wireless mobile communication frequency tends to be saturated, which demands for new solutions. Terahertz (THz) communication has great potential for the future mobile communications (Beyond 5G), and is also an important technique for the high data rate transmission in spatial information network. THz communication has great application prospects in military-civilian integration and coordinated development. In China, important breakthroughs have been achieved for the key techniques of THz high data rate communications, which is practically keeping up with the most advanced technological level in the world. Therefore, further intensifying efforts on the development of THz communication have the strategic importance for China in leading the development of future wireless communication techniques and the standardization process of Beyond 5G. This paper analyzes the performance of the MIMO channel in the Terahertz (THz) band and a discrete mathematical method is used to propose a novel channel model. Then, a channel capacity model is proposed by the combination of path loss and molecular absorption in the THz band based on the CSI at the receiver. Simulation results show that the integration of MIMO in the THz band gives better data rate and channel capacity as compared with a single channel.     

Analysis of Wireless Backhaul Networks Based on Aerial Platform Technology for 6G Systems

As next generation communication technologies emerge, new high data rate applications and high-definition large-screen video streaming have become very popular. As a result, network traffic has been increasing so much that existing backhaul networks soon will not be able to support all traffic demands. To support these needs in future 6G mobile systems, the establishment of an additional backhaul wireless network is considered essential. As one of the solutions, a wireless backhaul network based on an aerial platform has been proposed. In order to explore the potential of aerial platforms as wireless backhaul networks, in this paper, the categories for wireless backhaul networks based on aerial platforms are investigated. This paper includes a survey of the definitions and characteristics of low altitude platforms (LAPs) and high altitude platforms (HAPs), as well as channel models according to the atmosphere. For wireless backhaul network designs based on aerial platforms, altitude and platform selection options, deployment options, energy issues, and security based on target location and performance were considered in the analysis and investigation.     

Reliability Analysis of Mobile Ad Hoc Networks Using Universal Generating Function

The proliferation of the wireless network over the last decade is one of the significant drivers for the increased deployment of mobile ad hoc networks (MANETs) in the battle field. It is not practically possible to build a fixed wired network infrastructure in battle field. But it is possible to create a mobile wireless network infrastructure because of the mobility of the soldiers. MANET is justified by the possibility of building a network where no infrastructure exists. MANET with group communication applications and multicasting can highly benefit from a networking environment such as military and emergency uses. In such applications, the used ad hoc networks need to be reliable and secure. In recent years, a specific technique called the universal generating function technique (UGFT) has been applied to determine the network reliability. The UGFT is based on an approach that is closely connected to generating functions that are widely used in probability theory. This work devotes to assess the MANET reliability using the UGFT. Reliability of the MANET is defined as the probability that the transformed message from the source can be passed successfully through the MANET and reached the target without any delay. Two kinds of UGFs are discussed in this work, and an algorithm has been proposed to execute the system reliability. This UGFT is illustrated with a case study in a battlefield environment. Copyright © 2014 John Wiley & Sons, Ltd.     

Passive measurement tool for monitoring mobile packet network performances

Continuous monitoring of performances is necessary to detect critical situations in the radio interface of digital mobile telephone networks. This paper presents a measurement tool that analyzes Transmission Control-Protocol (TCP) level packet traffic and detects the effects of variations in the radio-channel conditions of a wireless network. The analysis algorithm considers the wavelet coefficients of the aggregated-traffic process at a suitably selected number of time scales. Variations in the energy of wavelet coefficients are detected by a statistical test, from which a score is calculated. This indicator reveals changes in the performances of the monitored network.     

卫星移动通信的现状与发展

介绍了国际上出现的三种星座通信系统,重点分析了几个具有代表性系统的组成、结构、功能及其存在的问题。探讨了卫星移动通信系统的发展趋势,并对发展卫星移动通信做了几点思考。     

IoT-based networking for humanoid robots

Abstract

In this paper, a new network communication approach, named real-time network (RTNET), is designed and implemented for humanoid robots. The proposed five network objects – alarm, condition, message, mail, and file are used to represent the task and priority of the communication data. Compared to the existing protocols, the network scheduling mechanism of RTNET arranges, more efficiently, the priority and flow control of the five network communication objects to meet real-time requirements for the limited bandwidth of the local area network. RTNET can be further integrated with other protocols, such as EtherCAT or controller area networks (CAN Bus) for local control systems, e.g. robot arms, to improve the communication mechanism. The RTNET can also be used over Ethernet to connect each subsystem and to exchange information among those systems. Also, an Internet of things (IoT) network structure based on RTNET is proposed in this paper. The information of each subsystems is collected through RTNET and users can access all components in the IoT network. In this paper, the concept of RTNET is presented and RTNET has been implemented on a National Taiwan University (NTU) humanoid robot control system with CAN Bus.     

电力LTE无线专网架构研究

电力通信接入网是电力通信网的重要组成部分,为智能电网建设提供全面的通信接入支撑。随着智能电网技术的发展与创新,迫切要求通过技术手段提升电网智能化运维水平,降低运维成本。同时,由于"互联网+"及"云技术"等新技术的应用,电力通信网络正发生着重大改变。随着配用电及光伏并网等数据采集量的不断增加,移动业务需求不断提升,接入网建设将成为通信网建设的重点和难点。该文通过研究电力3GPP长期演进（power long term evolution,LTE）无线技术的特点,以及在通信接入网等领域的应用,提出电力LTE无线专网整体网络架构,并深入研究电力LTE无线通信信道特性参数,结合目前已部署实施的电力LTE通信网络性能进行分析和测试,为电力终端通信接入网的统一建设和统一运维管理提供技术支撑,为LTE电力无线专网的推广应用奠定坚实基础。     

An Optimized Algorithm for Resource Allocation for D2D in Heterogeneous Networks

With the emergence of 5G mobile multimedia services, end users’ demand for high-speed, low-latency mobile communication network access is increasing. Among them, the device-to-device (D2D) communication is one of the considerable technology. In D2D communication, the data does not need to be relayed and forwarded by the base station, but under the control of the base station, a direct local link is allowed between two adjacent mobile devices. This flexible communication mode reduces the processing bottlenecks and coverage blind spots of the base station, and can be widely used in dense user communication scenarios such as heterogeneous ultra-dense wireless networks. One of the important factors which affects the quality-of-service (QoS) of D2D communications is co-channel interference. In order to solve this problem of co-channel interference, this paper proposes a graph coloring based algorithm. The main idea is to utilize the weighted priority of spectrum resources and enables multiple D2D users to reuse the single cellular user resource. The proposed algorithm also provides simpler power control. The heterogeneous pattern of interference is determined using different types of interferences and UE and the priority of color is acquired. Simulation results show that the proposed algorithm effectively reduced the co-channel interference, power consumption and improved the system throughput as compared with existing algorithms.     

An Optimal Algorithm for Resource Allocation in D2D Communication

The number of mobile devices accessing wireless networks is skyrocketing due to the rapid advancement of sensors and wireless communication technology. In the upcoming years, it is anticipated that mobile data traffic would rise even more. The development of a new cellular network paradigm is being driven by the Internet of Things, smart homes, and more sophisticated applications with greater data rates and latency requirements. Resources are being used up quickly due to the steady growth of smartphone devices and multimedia apps. Computation offloading to either several distant clouds or close mobile devices has consistently improved the performance of mobile devices. The computation latency can also be decreased by offloading computing duties to edge servers with a specific level of computing power. Device-to-device (D2D) collaboration can assist in processing small-scale activities that are time-sensitive in order to further reduce task delays. The task offloading performance is drastically reduced due to the variation of different performance capabilities of edge nodes. Therefore, this paper addressed this problem and proposed a new method for D2D communication. In this method, the time delay is reduced by enabling the edge nodes to exchange data samples. Simulation results show that the proposed algorithm has better performance than traditional algorithm.     

实现CDMA最佳多用户检测的神经网络方法

提出并讨论了两种实现码分多址系统中最佳多用户检测的神经网络方法。一种基于离散Ｈｏｐｆｉｅｌｄ神经网络，另一种基于采用反向传播算法的多层感知器神经网络。理论分析和计算机模拟都证实了这两种神经网络方法的可行性，优越性和实用性。前者适用“固定”用户情况；后者既可用于“固定”用户吼适用于移动用户的情况，因而在未来的ＣＤＭＡ个人通信网中有较好的应用前景。