Snake robots to the rescue!

The utilization of autonomous intelligent robots in search and rescue (SAR) is a new and challenging field of robotics, dealing with tasks in extremely hazardous and complex disaster environments. Autonomy, high mobility, robustness, and modularity are critical design issues of rescue robotics, requiring dexterous devices equipped with the ability to learn from prior rescue experience, adaptable to variable types of usage with a wide enough functionality under different sensing modules, and compliant to environmental and victim conditions. Intelligent, biologically inspired mobile robots and, in particular, serpentine mechanisms have turned out to be widely used robot effective, immediate, and reliable responses to many SAR operations. This article puts a special emphasis on the challenges of serpentine search robot hardware, sensor-based path planning, and control design.     

Real-time face tracking and recognition using the mobile robots

The terrain is complex and dynamic in a disaster. This paper aimed at constructing a multipose-specific feature model for online face recognition and tracking in a search and rescue operation. This paper proposes an integrated multipose face tracking and recognition system mounted on an unmanned aerial vehicle (UAV). The face model is constructed online by multi-scale block local binary pattern (MB-LBP) for face recognition. The generic and specific face models are further integrated for face tracking. Mechanisms for the online update of face models to retrieve loss of face tracking are also implemented. The results show that the proposed system achieves stable and robust tracking despite uncertainties (e.g. non-rigid human face, face expression changes, different face poses, complex background, varying illumination, partial visual occlusion, and pose changes). The target loss during tracking can be retrieved correctly. In face recognition, the multipose-specific face model can achieve an accuracy (above 70%). The results demonstrate the feasibility of the proof-of-concept using UAV or ground mobile robot (GMR) for real-time face recognition and tracking.     

An approach to mobile software robots for the WWW

This paper describes a framework for developing mobile software robots by using the PLANET mobile object system, which is characterized by a language-neutral layered architecture, the native code execution of mobile objects, and asynchronous object passing. We propose an approach to implementing mobile Web search robots that takes full advantage of these characteristics, and we base our discussion of its effectiveness on experiments conducted in the Internet environment. The results show that the PLANET approach to mobile Web search robots significantly reduces the amount of data transferred via the Internet and that it enables the robots to work more efficiently than the robots in the conventional stationary scheme whenever nontrivial amounts of HTML files are processed     

A virtual structure approach to formation control of unicycle mobile robots using mutual coupling

In this article, the formation control problem for unicycle mobile robots is studied. A distributed virtual structure control strategy with mutual coupling between the robots is proposed. The rationale behind the introduction of the coupling terms is the fact that these introduce additional robustness of the formation with respect to perturbations as compared to typical leader–follower approaches. The applicability of the proposed approach is shown in simulations and experiments with a group of wirelessly controlled mobile robots.     

Applying classifier systems to learn the reactions in mobile robots

The navigation problem involves how to reach a goal avoiding obstacles in dynamic environments. This problem can be faced considering reactions and sequences of actions. Classifier systems (CSs) have proven their ability of continuous learning, however, they have some problems in reactive systems. A modified CS, namely a reactive classifier system (RCS), is proposed to overcome those problems. Two special mechanisms are included in the RCS: the non-existence of internal cycles inside the CS (no internal cycles) and the fusion of environmental message with the messages posted to the message list in the previous instant (generation list through fusion). These mechanisms allow the learning of both reactions and sequences of actions. This learning process involves two main tasks: first, discriminate between rules and, second, the discovery of new rules to obtain a successful operation in dynamic environments. DiVerent experiments have been carried out using a mini-robot Khepera to find a generalized solution. The results show the ability of the system for continuous learning and adaptation to new situations.     

On the use of Bayesian Networks to develop behaviours for mobile robots

Bayesian Networks are models which capture uncertainties in terms of probabilities that can be used to perform reasoning under uncertainty. This paper presents an attempt to use Bayesian Networks as a learning technique to manage task execution in mobile robotics. To learn the Bayesian Network structure from data, the K2 structural learning algorithm is used, combined with three different net evaluation metrics. The experiment led to a new hybrid multiclassifying system resulting from the combination of 1-NN with the Bayesian Network, that allows one to use the power of the Bayesian Network while avoiding the computational burden of the reasoning mechanism — the so-called evidence propagation process. As an application example we present an approach of the presented paradigm to implement a door-crossing behaviour in a mobile robot using only sonar readings, in an environment with smooth walls and doors. Both the performance of the learning mechanism and the experiments run in the real robot-environment system show that Bayesian Networks are valuable learning mechanisms, able to deal with the uncertainty and variability inherent to such systems.     

工业级软件执行核电厂A类功能的适用性分析

由于对核电厂执行A类安全功能的软件要求极高,必须遵守核质保体系的开发要求,如HAF 003和IEC 60880等,市场上这类软件较少.对此,核电用户将目光转向基于工业标准IEC 61508-3开发的软件.这些软件有着良好的应用经验,但是其开发和鉴定过程并不严格依据核电领域的相关标准.因此,这类工业级软件是否有足够高的可...     

一种适用于核电站应急指挥系统的软件架构

本文基于核电站应急系统需求模型,对核电站应急系统的总体架构进行设计,采用五视图的方式对软件架构进行分解,给出了适用于应急系统的基于SOA(service-oriented architecture,面向服务的体系结构)的三层软件架构.     

Application of systems identification to the implementation of motion camouflage in mobile robots

Motion camouflage is an animal stealth behaviour in which a shadower—or predator—moves in the vicinity of a shadowee—or prey—in such a way that the later perceives no apparent motion apart from the self motion. Despite some light has been shed on the control mechanism generating this pursuit strategy, it is not fully understood. Motion camouflage represents an interesting challenge in biological motion, and although simulated controllers can be found in the literature, no implementation on real robots has been done so far. This paper presents the first implementation of motion camouflage in real wheeled robots through a polynomial NARMAX model controller. The trajectories to adjust the model are generated using a heuristic approach. The NARMAX model outperforms the heuristic approach in terms of computational time and generates good camouflage trajectories in real robots and simulation. The transparency of polynomial models can also shed some light over this complex animal behaviour.     

4G移动通信技术在核电应急通信中的应用

依托现有核电系统的通信资源,提出了一种基于分时长期演进（TD-LTE）的核电应急通信系统,通过建立覆盖应急区域的专用TD-LTE网络,为核电应急指挥中心提供突发应急现场音视频数据,同时也为核电通信故障恢复提供高带宽的临时通道。该应急系统的建设提高了核电系统通信应对应急事件的能力,保障核电系统的安全可靠运行。     

The application of wireless local area network technology to the control of mobile robots

This paper describes a communications and control infrastructure for distributed mobile robotics, which makes use of wireless local area network (WLAN) technology and Internet Protocols (IPs). The use of commercial off-the-shelf (COTS) hardware and software components, and protocols, results in a powerful platform for conducting experiments into collective or co-operative robotics. Standard Transmission Control Protocol/Internet Protocol (TCP/IP) compatible applications programming interfaces (APIs) allow for rapid and straightforward development of applications software. Further, the message bandwidth available from WLAN interfaces (1–2 Mbits/s) facilitates multi-robot experiments requiring high data rates, for instance in robot vision or navigation. The infrastructure described is equally applicable to tele-operated mobile robots.     

Multivariate Analysis of Human Error Incidents Occurring at Nuclear Power Plants: Several Occurrence Patterns of Observed Human Errors

This paper describes the results obtained in respect of typical human errors together with their information-processing phases, causal factors and situational factors found commonly among incidents analysed at domestic nuclear power plants (NPPs). The Central Research Institute of Electric Power Industry has been conducting detailed and structured analysis of all incidents reported during the last 31 years and has stored them in a database. At first, all case studies were classified into several categories. Next, multivariate analysis was applied. These results suggested that there were several occurrence patterns that were identified how errors occurred at NPPs in the past.     

Comparison of bio-inspired algorithms applied to the coordination of mobile robots considering the energy consumption

Neural Computing and Applications - Many applications, related to autonomous mobile robots, require to explore in an unknown environment searching for static targets, without any a priori...     

核电站应急辅助决策系统的人机界面设计与实现

本文针对核电站应急辅助决策系统的人机界面,从设计与实现的角度进行考虑并分析,给出了基于B/S架构的解决方案。将核电站应急辅助决策系统人机界面分类并总结,针对每一类页面,考虑了B/S架构的特点,和使用场合的特殊性,提供不同的设计和实现方案,并且在文中,也简单描述了实现过程和主要建议。     

Analog circuit for motion detection using a CCD camera based on a biological vision system and its application to mobile robots

We have proposed an analog motion detection circuit based on a biological vision system. A charge coupled device (CCD) camera was used as the input in order to obtain an input image. By using the CCD camera, it is possible to detect the movement of an object as a high-resolution image. Because the unit motion detection circuit is constructed with eight metal oxide semiconductor (MOS) transistors and one capacitor, the structure of the unit circuit is simple. The test circuit was constructed on a circuit board using discrete MOS transistors. The results from the test circuit showed that it can detect the direction of motion. The test circuit was connected to a microcomputer in a mobile robot. It was clear from the results that the motion detection circuit can control a mobile robot.     

Human-robot interactions during the robot-assisted urban search and rescue response at the World Trade Center

The World Trade Center (WTC) rescue response provided an unfortunate opportunity to study the human-robot interactions (HRI) during a real unstaged rescue for the first time. A post-hoc analysis was performed on the data collected during the response, which resulted in 17 findings on the impact of the environment and conditions on the HRI: the skills displayed and needed by robots and humans, the details of the Urban Search and Rescue (USAR) task, the social informatics in the USAR domain, and what information is communicated at what time. The results of this work impact the field of robotics by providing a case study for HRI in USAR drawn from an unstaged USAR effort. Eleven recommendations are made based on the findings that impact the robotics, computer science, engineering, psychology, and rescue fields. These recommendations call for group organization and user confidence studies, more research into perceptual and assistive interfaces, and formal models of the state of the robot, state of the world, and information as to what has been observed.     

Reliability-based approach to the inverse kinematics solution of robots using Elman's networks

The solution of inverse kinematics problem of redundant manipulators is a fundamental problem in robot control. The inverse kinematics problem in robotics is the determination of joint angles for a desired cartesian position of the end effector. For the solution of this problem, many traditional solutions such as geometric, iterative and algebraic are inadequate if the joint structure of the manipulator is more complex. Furthermore, many neural network approaches have been done to this problem. But the neural network-based solutions are not much reliable due to the error at the end of learning. Therefore, a reliability-based neural network inverse kinematics solution approach has been presented, and applied to a six-degrees of freedom (dof) robot manipulator in this paper. The structure of the proposed method is based on using three networks designed parallel to minimize the error of the whole system. Elman network, which has a profound impact on the learning capability and performance of the network, is chosen and designed according to the proposed solution method. At the end of parallel implementation, the results of each network are evaluated using direct kinematics equations to obtain the network with best result.     

核电厂安全重要仪表和控制系统标准体系概述

介绍了我国核电和核电标准的发展现状及规划,说明了压水堆核电厂安全重要仪表和控制系统的功能、范围以及所需标准.在对国外先进的核电厂安全重要仪表和控制系统标准体系进行分析的基础上,介绍了压水堆核电厂安全重要仪表和控制系统标准的编制策略和体系结构.