Dynamic Obstacle Avoidance for Application of Human-Robot Cooperative Dispensing Medicines

For safety reasons,in the automated dispensing medicines process,robots and humans cooperate to accomplish the task of drug sorting and distribution.In this dynamic unstructured environment,such as a human-robot collaboration scenario,the safety of human,robot,and equipment in the environment is paramount.In this work,a practical and effective robot motion planning method is proposed for dynamic unstructured environments.To figure out the problems of blind zones of single depth sensor and dynamic obstacle avoidance,we first propose a method for establishing offline mapping and online fusion of multi-sensor depth images and 3D grids of the robot workspace,which is used to determine the occupation states of the 3D grids occluded by robots and obstacles and to conduct real-time estimation of the minimum distance between the robot and obstacles.Then,based on the reactive control method,the attractive and repulsive forces are calculated and transformed into robot joint velocities to avoid obstacles in real time.Finally,the robot's dynamic obstacle avoidance ability is evaluated on an experimental platform with a UR5 robot and two KinectV2 RGB-D sensors,and the effectiveness of the proposed method is verified.     

边坡监测中FCM聚类算法的应用研究

利用模糊聚类分析方法将边坡进行安全等级分类,在提高变形监测效率的基础上可降低工作量。FCM聚类分析算法更具科学性,是理论最为完善且应用较多的算法。利用边坡的坡角、高度、边坡所处的水文地质条件作为影响边坡稳定的影响指标,来对边坡监测点的安全等级分类,从而降低工作量,提高工作效率。     

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对城市的道路交通运行状况进行全面分析评估并实时监控、预测,可以有效地消除交通隐患,增强城市交通管理部门对城市交通的管控能力.本文基于北京市典型道路交通流特性分析及已有的道路交通流预测模型,提出道路交通运行状态组合预测模型,确定了非参数回归模型作为预测模型的核心,组合使用傅立叶历史估算模型、非参数自回归模型和非参数邻域回归模型对北京市典型道路的交通运行状态进行预测.针对北京市道路交通流信息采集系统实际情况及未来预测信息图形化发布的需要,提出了道路交通流预测系统的异构数据融合方法及道路编码模型及方法.     

高速铁路桥梁-轨道体系检测监测与行车安全研究进展

为了提升桥梁-轨道结构服役安全性能,保证复杂环境条件下高速铁路结构适应性和行车安全舒适性,研究了高速铁路桥梁-轨道体系检测监测装备的改进与优化,分析了桥梁-轨道结构服役性能动态演变规律,总结了复杂条件下桥上行车安全评价与预测方法,展望了未来研究重点与方向。研究结果表明：在桥梁-轨道体系检测监测技术方面,现有研究聚焦于传统检测监测装备的优化和智能化技术与损伤识别方法的深度融合,核心目标是提高桥梁-轨道结构检测监测的效率、精度与标准化程度,实现基础设施服役状态的精准评判与预测;在桥梁-轨道空间变形映射关系方面,考虑基础结构各部分交互影响的变形映射模型能够准确描述结构层间界面状态演变引起的轨面几何形态变化趋势、发展规律和频谱特性,但目前尚缺乏对高速铁路桥梁-轨道协同设计和变形智能调控装置的深入研究;结构服役性能演化研究大多基于理想化的弹塑性本构模型,且对于服役性能劣化行为与规律的研究局限在特定服役环境;正在逐步深入开展基于列车-轨道-桥梁动力相互作用理论的长期服役条件下高速铁路桥梁行车安全性研究,建立基于不同指标体系的行车安全评价准则;充分利用桥梁-轨道体系检测监测数据,加强复杂服役环境下桥梁-轨道结构性能演变机制和损伤失效机理研究,信息更新条件下具有高可移植性的行车安全性智能评价与预测新方法是今后重点关注的研究方向。     

青藏铁路行车安全监控管理平台技术方案研究

行车安全监控管理平台是青藏铁路综合安全监控系统中的一个子系统,实现对青藏铁路安全检查和监测信息的接入、处理与共享应用;管理平台利用综合安全计算机网络,将各类行车安全检测、监控设备和系统产生的报警信息、人工检查安全问题数据通过统一的监测数据接口接入集中存储和管理,为各级用户提供安全监控信息的综合访问.本文分析了在青藏铁路特殊环境下行车安全监控管理平台应具备的功能,构建了行车安全监控管理平台的体系构架,分析了行车安全监控报警信息闭环业务处理流程.该平台的建设将为青藏铁路提供高效可靠的行车安全监控手段,填补高原铁路监控系统建设的空白.     

A real-time collision-free path planning of a rust removal robot using an improved neural network

In this paper, a real-time collision-free path planning of the rust removal robot in a ship environment is proposed, which is based on an improved biologically inspired neural network algorithm. This improved algorithm is based on the biologically inspired neural network and modified with obstacle detection sensors and kinematic state templates, and is implemented in a ship rust removal robot planning system for dynamic trajectory generation. The real-time optimal trajectory is generated by the biologically inspired neural network, and the moving obstacle detection process of a ship robot working on the wall is simulated with the obstacle detection sensors models. The local real-time trajectory can be re-planned by the updated local map information, where the obstacle detection sensors are used to inspect partial environment information and update the robot nearby information in real time in the original neural network algorithm. At the same time, the method of the kinematic state templates matching and searching is used to solve the pipes’ influence of the rust removal robot climbing on the wall, which can not only provide a smooth path, but also can judge the motion direction and turning angle of the robot. Comparison of the proposed approach with the simulation shows that the improved algorithm is capable of planning a real-time collision-free path with achieving the local environmental information and judging the rust removal robot’s motion direction and turning angle. This proposed algorithm can be good used in the ship rust removal robot.     

Design of Rehabilitation Robot with Combined Movement of Arms and Legs

Rehabilitation instruments are effective tools for patients to recover from disability. However, we still do not have a rehabilitation instrument which could provide combined movement with arms and legs. Rehabilitation with combined movement of arms and legs is completely a new method. In order to check the effect of this new rehabilitation method and to provide patients with more efficient rehabilitation instrument, we design a new rehabilitation robot. This robot lets patients practice when they lie down and stand up. This article explains the design of this instrument clearly. Using Unigraphics NX software to build 3D model, we have a complete design of this rehabilitation robot.     

Dynamic Simulation Analysis of Humanoid Robot Walking System Based on ADAMS

Humanoid robots are a hot topic in the field of robotics research. The walking system is the critical part of the humanoid robot, and the dynamic simulation of the walking system is of great importance. In this paper, the stability of the walking system and the rationality of its structural design are considered in the study of dynamics for a humanoid robot. The dynamic model of humanoid robot walking system is established by using the Lagrange dynamics method. Additionally, the three-dimensional model of CATIA is imported into ADAMS. The humanoid robot walking system is added with the movement of the deputy and the driving force in the ADAMS.The torque and angular velocity of the ankle joint and hip joint are analyzed in the process of knee bends. The simulation results show that the overall performance of the humanoid robot walking system is favorable and has a smooth movement, and the specified actions can be completed, which proves the rationality of the humanoid robot walking system design.     

The Analysis of Angle Resolution of Stress Vector Sensor Based on Optical Fiber Sensing Cable for High Speed Railway Traffic

With the development of high speed railway traffic, the structure health monitoring for high-speed rail is necessary due to the safety issue. Optical fiber sensing technology is one of the options to solve it. Stress vector information is the important index to make more reasonable judgments about railway safety. However, information sensed by lots of commercial optical sensors is scalar. According to the stress filed distribution of rail, this paper proposes a new type of stress vector sensor based on optical fiber sensing cable (OFSC) with a symmetrical seven optical fibers structure and analyzes the relations between angle resolution and distance between adjacent of optical fibers through finite-element software (ANSYS) simulation. Through reasonable distance configuration, the angle resolution of the OFSC can be improved, and thus stress vector information, including the stress magnitude and the angle of stress, can be more accurately obtained. The simulation results are helpful to configure OFSC for angle resolution improvement in actual practice, and increase the safety factor in high speed railway structure health monitoring.     

Multiple welding seam video transmission and monitoring of welding robot in local area network

A method of transmission and monitoring in local area network (LAN) for the welding seam video information of binocular vision welding robot is proposed. This paper uses MPEG-4 video CODEC functions of DivX, video for Windows (VFW) video capture technology, multi-threaded network communication idea and WinSock Socket in Visual C++ 6.0. In the end, client/server (C/S) communication model based on TCP/IP protocol has been developed. Experimental results show that the method can achieve the multiple welding seam video??s real-time transmission in LAN. Moreover, the Canny operator is used to realize the edge feature extraction of the seam image which is captured by the client, so that the edge of the seam extracted is continuous and clear.     

Upper limb musculo-skeletal model for biomechanical investigation of elbow flexion movement

A biomechanical musculo-skeletal model of upper limb is presented in this paper, which can provide accurate representations of muscles and joints, and capture important interactions between joints. The upper limb model is made up of seven segments: ribs, sternum, clavicle, scapular, humerus, radius and ulna, considered as a single rigid body respectively and includes 22 muscles. The individual muscle forces can be calculated by using an electromyography (EMG) assisted method, which is verified by comparing the simulation results with other researches of an elbow flexion motion. These comparisons show that the muscle forces and the estimated joint moment match well with previous literatures.     

Kinematics analysis and experiment of a cockroach-like robot

This article describes the structure of the cockroach-like robot. Both kinematics and locomotion control are inspired by biological observations in cockroaches. Based on cockroach-like robot kinematics analysis, screw theory, and the production-of-exponential (POE) formula, this paper focuses on the inverse kinematics which uses Paden-Kahan sub-problems to obtain directly the displacement of joint angles. The forward kinematics derives the relationship between joint angles according to the natural restrictions. Then, by using the POE formula, it can deduce the body pose and realize online trajectory control and planning. Through simulation and experimentation, it is proved that the straight-line walking and turning gait algorithms have static stability and the inverse kinematics analysis of cockroach-like robot is correct.     

An SNN Ontology Based Environment Monitoring Method for Intelligent Irrigation System

In order to realize high precision of environment parameters detection in irrigation applications, a sensor and sensor network (SSN) ontology based data fusion method is proposed. An SSN sub-ontology for soilstate monitoring is revised, which includes the sensing devices hierarchies and measurement properties selection according to the detection feature interests. As for sensor data processing, a tuning data method by data pool filtering and clustering is adopted, as well as a useful data fusion method for multi-sensor system. The testing results show that both the accuracy and efficiency of the proposed method are higher after related filtering and clustering process, which enables a thorough monitoring for intelligent irrigation systems and can be extended into environment monitoring and control applications.     

泛在交通信息服务系统的概念、架构与关键技术

分析了现有交通信息服务系统存在的感知能力有限、服务方式单一和动态信息更新不及时的问题, 围绕当前交通工程和信息技术领域的研究发展趋势, 提出了一种泛在交通信息服务系统(U-TISS)的架构, 将先进的协同感知、泛在网络、云计算、大数据等技术综合运用于交通信息服务领域, 实现交通信息服务系统与交通物理系统的深度融合。U-TISS架构包括感知、网络、计算和服务4层次。感知层主要通过传感器、射频标签、识读器、摄像头、全球定位系统、车载智能终端设备等, 实现对人、车、路、环境的全面感知; 网络层是以ZigBee、蓝牙、DSRC等短程通信为主的末梢节点通信与以3G/4G或有线通信链路为主的承载网络通信, 通过车路短程通信和自组织网络、路侧与感知中心的承载网络实时采集和传输各种交通信息, 构建交通要素信息的精准获取与发布体系; 计算层利用云计算技术实现有效的交通富信息挖掘与提取, 提升交通信息服务质量; 服务层构建基于泛在网络和云计算的交通信息服务平台, 通过移动智能终端、车载终端、资讯广播、可变信号板等信息发布方式, 为交通参与者提供实时动态的交通信息服务和丰富全面的辅助决策支持, 实现交通信息服务的智能化与个性化。基于U-TISS架构, 分析了实现U-TISS的关键技术, 包括智能终端的普适感知与交互、车辆精确定姿与定位、交通信息路侧协同感知、车车/车路短程通信与组网、车载移动互联、交通信息云管理、交通大数据分析与挖掘、信息安全与隐私保护。分析结果表明: U-TISS具有泛在感知、开放互联、实时传输、深度挖掘与优质服务的特点, 能够从安全性、高效性、便捷性和环保性4方面改进与提升现有交通信息服务系统的服务水平。在安全性方面, 基于DSRC的车车/车路通信与组网技术使驾驶人可以获取超越视距、超车载感知能力范围与多时空尺度的交通信息, 增强车车/车路间的协同能力; 在高效性方面, 借助泛在感知的海量路网运行信息和云计算平台提供的大数据分析技术, 通过精细化的管理实现交通系统的高效运行; 在便捷性方面, 通过智能终端能够为公众出行路线、方式和出发时间的个性化定制提供支持; 在环保性方面, 通过对车辆控制系统提供更多的行车环境信息实现车辆控制的优化, 通过大数据或社交网络提高驾驶人对环保驾驶的认知, 实现绿色出行。U-TISS关键技术的深入研究、推广与应用, 及相关行业标准与规范的出台, 将引起交通信息服务类应用商业模式的创新与变革, 最终实现协作式智慧交通。     

山区高速公路运营安全信息监测指标及采集方式

为提高山区高速公路的运营安全管理水平,更好地指导山区高速公路信息监测工作,从运营管理安全的角度分析研究山区高速公路信息监测的指标及采集手段。首先分析山区高速公路的安全影响因素和安全管理信息需求,将纳入监测需求的动态信息分为交通运行状态、自然环境安全性和基础设施安全性信息三类;然后针对每类监测信息提出山区高速公路的重点监测指标和采集方式;最后通过案例分析验证检测指标及采集方式的应用性。     

内河航运系统监管技术现状与展望

数字化、自动化及智能化监管技术是保障内河航运系统安全、高效及绿色运行的关键。从态势感知、事件监视及组织优化这3方面阐述内河航运系统监管技术研究现状，总结技术发展沿革与趋势，分析监管技术存在的不足。研究表明：内河航运监管态势感知研究伴随先进信息感知技术发展做适应性进步，从利用海事雷达技术捕捉船舶物理表象特征，逐步结合数据挖掘方法融合多源信息向多船态势感知和智能感知方向发展；事件监视研究起初受限于传感器设备感知水平不足而主要面向事件后分析，结合先进传感器技术和智能技术，逐渐向事件中检测和事件前预测方向发展；组织优化研究主要包括船舶运行空间优化方案和时间优化方案的制定，未来组织优化模型需考虑航道突发事件的影响，有利于推进组织运行方案的实际应用，更好地服务于海事监管需求。提炼内河航运系统多模式一体化融合感知网、全息场景图及智能管控系统构建的关键技术，面向未来新一代航运系统，探索内河航运平行监管模式，阐述内河要素物理及耦合关系平行建模和平行数据集建立与信息挖掘、平行监管及交互可视化等方面建设的核心内容，旨在采用基于数字孪生技术的虚实闭环交互机制实现内河航运系统的高效运行，为内河航运系统监管技术的研究与发展提出了创新方向。     

基于新型性能指标的冗余度机械臂重复运动规划之方案分析与验证

为解决冗余度机器人手臂在运动过程中出现的关节角偏差问题,探讨与分析了一种基于新型性能指标的二次型优化模型,以使机械臂的关节能实现重复运动.在考虑各种关节物理极限(如关节角度极限和关节速度极限)的情况下,该模型最终被转化为一个标准的二次型优化问题来求解.同时,基于负梯度法的原理分析和基于PUMA560的平面四连杆机械臂的计算机仿真结果表明,该方案具有可行性和有效性.     

动态识别道路坡度的多传感器信息融合方法

在行驶中动态识别道路坡度的大小是采用电控机械自动变速器的车辆实现智能换挡控制的重要环节之一 ,也是目前的一大技术难题 .针对这一问题 ,提出了采用多个传感器信息融合来识别坡度角的方法 ,建立了数学模型 ,并对识别误差进行了分析 .     

面向GIS应用的铁路工程三维信息模型数据交换方法

为实现铁路三维信息模型在不同平台之间的互操作和信息共享,提出了一种基于多元信息分离和独立存储、支持简化层次细节和场景构建的模型数据交换方法RIMTrans.首先,从RIM各单元要素中提取描述几何特征的参数,通过快速网格化等算法将其转换为GIS需要的Mesh数据;其次,建立IFC与RIM语义之间的映射关系,保证了数据交换过程中语义信息的完整性;第三,引用IFC规定的属性定义和描述方式作为标准交换格式,实现属性信息的传递;最后,以语义为主导,从几何、属性、语义3个方面对RIM进行了多层次细节简化.通过选择某铁路工程设计工点案例区域,采用RIMTrans方法开展了设计阶段信息模型的格式转换实验,结果表明,本文提出的数据交换方法灵活可控,三维模型中附带的铁路工程语义信息完整性可达85%,与传统作业方式相比,RIM信息模型的转换时间耗用降低70%,集成到三维GIS场景中的准确度达100%.      

多控制模型嵌入的智能汽车防撞虚拟仿真

针对智能汽车行驶安全距离监测与防撞试验高成本、高危险性以及试验结果难以观察的问题,研究了智能汽车安全距离监测与防撞的虚拟仿真;应用Visual Studio 2015、3Dmax、Unity3D等虚拟仿真技术在虚拟制动控制系统中进行了可嵌入多控制模型的自动驾驶汽车行车安全距离监测和防撞虚拟仿真试验,测试了不同制动模型的防撞应用效果;以电动汽车动力性能和制动力学特征为基础建立了虚拟整车模型及其制动系统模型,根据路面附着系数和不同道路材质建立了虚拟试验道路模型和试验场景等虚拟环境,开发了试验电子设备仿真模型,实现了多虚拟控制器嵌入,研究了基础模型和反向传播(BP)神经网络模型的嵌入与仿真效果;通过设计接口将虚拟软硬件设计效果与仿真试验过程相关联,并采用动画渲染直观展现,同时应用内存优化实现了在网络版访问服务器中进行虚拟仿真试验;通过实车试验验证了仿真系统,并对比了实车试验数据与2种模型的仿真数据。研究结果表明：在低速情况下,基础模型计算的安全距离与实车试验所测安全距离的相对误差为2.49%,BP神经网络模型预测的安全距离与实车试验所测安全距离的相对误差为2.07%;在高速情况下,因为传感器不稳定的原因,基础模型计算的安全距离与实车试验所测安全距离的相对误差为10.03%,BP神经网络模型预测的安全距离与实车试验所测安全距离的相对误差为10.35%。由此可见,该仿真系统可使高风险的碰撞试验在虚拟环境下完成。