基于数据质量评价的目标估计

针对目标估计过程需要大量人工参与、自动化程度低的问题，提出了基于数据质量评价的目标估计方法。利用目标数据质量评价方法，对不同传感器得到的目标数据质量进行科学、有效的测度和评价，并根据质量得分动态调整各数据源在目标估计过程中所占的权重，从而减少人工干预，提高目标估计效能。仿真试验结果证明了该方法的有效性。     

基于重要度排序的配电自动化终端优化布局方法

针对配电自动化终端优化布局问题，提出了一种基于重要度排序的终端优化布局方法。首先以等年值综合费用为目标函数，供电可靠性和投入产出比为双重约束建立了配电自动化终端优化布局模型。然后通过分析配电自动化终端对供电可靠性提升的影响，给出各个节点的“二遥”及“三遥”终端安装重要度定义及计算公式。最后采用枚举法确定最优终端安装数量，基于节点终端安装重要度排序确定终端的最优安装位置。该方法考虑了已布局节点对剩余节点终端安装重要度的影响，能够在降低计算量的同时兼顾布局合理性。运用所提方法RBTS-BUS2系统及扩充模型进行终端优化布局并与智能优化算法的布局结果进行对比，验证了本文方法的有效性及优越性。     

An automated treatment planning strategy for highly noncoplanar radiotherapy arc trajectories

Radiation therapy is a technology-driven cancer treatment modality that has experienced significant advances over the last decades, due to multidisciplinary contributions that include engineering and computing. Recent technological developments allow the use of noncoplanar volumetric modulated arc therapy (VMAT), one of the most recent photon treatment techniques, in clinical practice. In this work, an automated noncoplanar arc trajectory optimization framework designed in two modular phases is presented. First, a noncoplanar beam angle optimization algorithm is used to obtain a set of noncoplanar irradiation directions. Then, anchored in these directions, an optimization strategy is proposed to compute an optimal arc trajectory. The computational experiments considered a pool of twelve difficult head-and-neck tumor cases. It was possible to observe that, for some of these cases, the optimized noncoplanar arc trajectories led to significant treatment planning quality improvements, when compared with coplanar VMAT treatment plans. Although these experiments were done in a research environment treatment planning software (matRad), the conclusions can be of interest for a clinical setting: automated procedures can simplify the current treatment workflow, produce high-quality treatment plans, making better use of human resources and allowing for unbiased comparisons between different treatment techniques.     

保险杠抗压分析流程自动化系统开发

为提升汽车保险杠抗压分析效率、减少重复性劳动、实现仿真分析流程的自动化，利用Python和VBS语言开发一套前、后处理自动化程序。此程序可实现RBE3单元创建、局部坐标系创建、载荷创建、头文件创建、后处理、结果诊断和报告编制等过程的自动化。实际应用结果表明，与传统人工分析相比，该程序可使仿真分析效率大幅提高。通过自动化程序进行仿真，不仅可以保证保险杠抗压分析的精度，同时还可以实现分析的标准化、保证分析的一致性。     

Perception‐aware autonomous mast motion planning for planetary exploration rovers

Highly accurate real‐time localization is of fundamental importance for the safety and efficiency of planetary rovers exploring the surface of Mars. Mars rover operations rely on vision‐based systems to avoid hazards as well as plan safe routes. However, vision‐based systems operate on the assumption that sufficient visual texture is visible in the scene. This poses a challenge for vision‐based navigation on Mars where regions lacking visual texture are prevalent. To overcome this, we make use of the ability of the rover to actively steer the visual sensor to improve fault tolerance and maximize the perception performance. This paper answers the question of where and when to look by presenting a method for predicting the sensor trajectory that maximizes the localization performance of the rover. This is accomplished by an online assessment of possible trajectories using synthetic, future camera views created from previous observations of the scene. The proposed trajectories are quantified and chosen based on the expected localization performance. In this study, we validate the proposed method in field experiments at the Jet Propulsion Laboratory (JPL) Mars Yard. Furthermore, multiple performance metrics are identified and evaluated for reducing the overall runtime of the algorithm. We show how actively steering the perception system increases the localization accuracy compared with traditional fixed‐sensor configurations.     

起重机械防碰装置试验系统的设计

防碰装置是起重机械重要的安全防护装置,其性能质量直接关系到人员和设备安全。常规的防碰装置性能试验方法难以保证试验数据的精度和可靠性。针对防碰装置的工作特点和试验要求,从试验原理、系统结构、运行逻辑等方面入手,设计一套能模拟防碰装置实际运行工况,自动进行性能试验和数据采集处理,精度高、重复性好的试验系统,可以有效提升防碰装置检测能力。     

Dairy farmers with larger herd sizes adopt more precision dairy technologies

An increase in the average herd size on Australian dairy farms has also increased the labor and animal management pressure on farmers, thus potentially encouraging the adoption of precision technologies for enhanced management control. A survey was undertaken in 2015 in Australia to identify the relationship between herd size, current precision technology adoption, and perception of the future of precision technologies. Additionally, differences between farmers and service providers in relation to perception of future precision technology adoption were also investigated. Responses from 199 dairy farmers, and 102 service providers, were collected between May and August 2015 via an anonymous Internet-based questionnaire. Of the 199 dairy farmer responses, 10.4% corresponded to farms that had fewer than 150 cows, 37.7% had 151 to 300 cows, 35.5% had 301 to 500 cows; 6.0% had 501 to 700 cows, and 10.4% had more than 701 cows. The results showed that farmers with more than 500 cows adopted between 2 and 5 times more specific precision technologies, such as automatic cup removers, automatic milk plant wash systems, electronic cow identification systems and herd management software, when compared with smaller farms. Only minor differences were detected in perception of the future of precision technologies between either herd size or farmers and service providers. In particular, service providers expected a higher adoption of automatic milking and walk over weighing systems than farmers. Currently, the adoption of precision technology has mostly been of the type that reduces labor needs; however, respondents indicated that by 2025 adoption of data capturing technology for monitoring farm system parameters would be increased.     

Robust orientation control of multi‐DOF cell based on uncertainty and disturbance estimation

Multiple degrees‐of‐freedom (multi‐DOF) cell orientation control is a vital important technique involved in single cell surgery applications. Currently, few studies have been performed toward automation of multi‐DOF cell orientation control using robotically controlled optical tweezers. In this paper, a robust control framework is developed to perform multi‐DOF cell rotational control with consideration of model uncertainties and external disturbances. Both simulation and experimental studies are presented to illustrate the performance of the proposed control strategy. The main contributions of this work lie in that this is the first time to develop a unified framework to achieve multi‐DOF cell orientation control without the need for accurate dynamic model parameters and/or any knowledge about uncertainty characteristic, which greatly enhances the robustness of the overall system.     

汽车自动定量高效充装硫酸技术研究与应用

金川集团股份有限公司镍冶炼厂硫酸产品主要通过汽车装运销往外地,通过深入观察、分析硫酸充装问题,从提高汽车充装硫酸的合规合法性、充装效率、精度和安全性考虑,进行了汽车定量自动充装计量、高效兑车、液位防溢保护及声光报警等方面技术创新,保证了定量自动充装的同时,兑车效率大幅提高,降低了操作人员劳动强度,确保了硫酸充装的安全性和可靠性。     

A novel robot co-worker system for paint factories without the need of existing robotic infrastructure

This paper presents a human–robot co-working system to be applied to industrial tasks such as the production line of a paint factory. The aim is to optimize the picking task with respect to manual operation in a paint factory. The use of an agile autonomous robot co-worker reduces the time in the picking process of materials, and the reduction of the exposure time to raw materials of the worker improves the human safety. Moreover, the process supervision is also improved thanks to a better traceability of the whole process. The whole system consists of a manufacturing process management system, an autonomous navigation system, and a people detection and tracking system. The localization module does not require the installation of reflectors or visual markers for robot operation, significantly simplifying the system deployment in a factory. The robot is able to respond to changing environmental conditions such as people, moving forklifts or unmapped static obstacles like pallets or boxes. The system is not tied to specific manufacturing orders. It is fully integrated with the manufacturing process management system and it can process all possible orders as long as their components are placed into the warehouse. Real experiments to validate the system have been performed in a paint factory by a real holonomic platform and a worker. The results are promising from the evaluation of performance indicators such as exposure time of the worker to raw materials, automation of the process, robust and safe navigation, and the assessment of the end-user.