基于Internet遥控的全方位移动机器人控制系统设计及实现

移动机器人在工业、农业、科技、军事、服务、社会各个领域都有着比较广泛的需求和应用。针对移动机器人的技术研究和系统开发也得到了更多的重视，尤其是移动机器人作为导航、多传感器信息融合、自主智能控制的实验载体，对其控制系统的开放性提出了越来越高的要求，这就需要一个较好的移动机器人实验平台作为对实验研究的硬件和软件支持。本文在己有硬件基础上设计了移动机器人的软件控制系统，其中实现了运动规划、运动学插补、示教再现、手动控制、简单避碰等基本功能，同时为用户进一步开发并试验自己的控制方法提供了开放式的软件结构和接口。另外随着互联网的出现和网络技术应用的延伸，基于网络的机器人遥控技术成为网络技术和机器人技术的一个新的结合点。用户通过本地浏览器就能访问到远程机器人并能对其进行远程操作和监视。本文设计了一个基于互联网的机器人遥控系统，构造了一个集研究和实验为一体的机器人遥控平台，其结构包括网络服务器、图像服务器、机器人服务器和人机交互接口等几个部分，同时设计并实现了可以满足多服务同时支持多用户的机制，可以为用户提供机器人控制、机器人运动图像反馈、机器人运动状态反馈、机器人虚拟表现等服务，最后把这一遥控系统与移动机器人相联成功地进行了部分的实验。

基于Internet的机器人遥操作系统QoS策略与同步问题研究

基于Internet的机器人遥操作系统提供了进行网络控制系统(NCS和多媒体通信等学科交叉领域研究的良好平台和契机。服务质量(QoS)的概念起源于多媒体和远程通信领域，大量的文献表明，将NCS和QOS结合起来的研究和应用还很少。本文分析、研究了基于Internet的机器人遥操作系统作为NCS, Internet上的多媒体应用和实时系统等多学科的交叉领域所具有的特点，对该系统同步和协调问题及具有QOS意识的网络机器人遥操作系统体系结构进行了深入、广泛的研究和探讨。就现有的基于Internet的机器人遥操作系统存在的缺乏对网络可用带宽的适应、缺乏多数据流协调等问题，提出了一种针对网络机器人遥操作系统的端到端QOS自适应体系结构AeQTA o在Internet QoS整体工程尚未完全启动的情况下，AeQTA的目的是将QOS的方法和策略尽量移植到端系统上，在端系统上提供QOS配置接口，实施QOS驱动的控制和管理策略，实现最大的网络效率、最可能好的应用性能和合理的业务流间资源分配的和谐统一。从时钟同步、速率控制、拥塞控制、多传感器信息同步和端到端的调度等几个方面剖析了基于Internet的机器人遥操作系统的协调和同步问题。针对NC S系统的同步容限的量化问题，提出了NCS多传感器反馈中的同步距离的概念和定义。然后，根据基于公式的、TCP－友好的速率控制的基本思路，结合使用应用需求QOS和网络QOS两种尺度调节的基于主媒体流的表象同步方法，将多传感器信息同步和速率控制统一起来，提出了一种速率控制方法TTFRC，提高了系统的实时性和TCP－友好性。为了给基于Internet的机器人遥操作系统研究提供一个真实的实验环境，为相关的策略和算法提供验证平台，我们建立了一个开放的、灵活的、可移植的、可裁减的且成本低的MOMR原型系统。目前，该原型系统已经为基于Internet的机器人遥操作系统深入的理论研究和实际经验积累做出了很大贡献。并且，在此基础上，由中国科学院沈阳自动化研究所和香港中文大学合作，己于2402年1月通过Internet实现了沈阳—香港—密西根三地的MONM远程协作。力求控制工程和计算机网络工程等多学科的结合是本论文工作的努力方向。

Griping, bitching and speaking your mind: defamation and free expression on the internet

Diane Rowland, Griping, Bitching and Speaking Your Mind: Defamation and Free Expression on the Internet, Pennsylvania State Law Review Symposium Issue 110, no. 3 (2006): 519?538; RAE2008

Whose News? Copyright and the Dissemination of News on the Internet

International Review of Law, Computers & Technology, Volume 17, Issue 2 July 2003 , pages 163 - 174 RAE2008

Los ingenieros agrónomos como usuarios de internet

p.137-152

Factores determinantes del uso de Internet en la comercialización del aceite de oliva. Análisis del sector en Cataluña

Las cooperativas son entidades con una gran presencia económica y social en España, y tienen una gran influencia en la economía rural de las zonas donde están ubicadas. El principal objetivo del presente trabajo es el análisis del uso de las nuevas tecnologías por parte de las cooperativas agroalimentarias, centrándose en las productoras de aceite de oliva para determinar los principales factores que condicionan su comportamiento en la Red. En el presente estudio se analizan sus sitios web y se determina qué tipo de información aporta, tanto datos generales como datos de comercialización. A partir de los resultados obtenidos, se busca la relación que pueda existir entre el tamaño de la cooperativa, su actividad exportadora o la actividad de comercio electrónico con la presencia online, mediante una regresión logística. De esta manera podremos conocer si realmente la implantación de nuevas tecnologías en las cooperativas permite desarrollar una óptima actividad económica.

Synchrophasor Broadcast over Internet Protocol for Distributed Generator Synchronization

Synchronous islanded operation involves continuously holding an islanded power network in virtual synchronism with the main power system to aid paralleling and avoid potentially damaging out-of-synchronism reclosure. This requires phase control of the generators in the island and the transmission of a reference signal from a secure location on the main power system. Global positioning system (GPS) time-synchronized phasor measurements transmitted via an Internet protocol (IP) are used for the reference signal. However, while offering low cost and a readily available solution for distribution networks, IP communications have variable latency and are susceptible to packet loss, which can make time-critical control applications difficult. This paper investigates the ability of the phase-control system to tolerate communications latency. Phasor measurement conditioning algorithms that can tolerate latency are used in the phase-control loop of a 50-kVA diesel generator. © 2010 IEEE.

Internet banking and Irish credit unions

The purpose of this paper is to examine IT adoption by Irish credit unions. Using probabilistic models, we explore one aspect of IT, that of internet banking technology, and assess the degree to which characteristics specific to the credit union and to its potential membership base influence adoption. Our
analysis suggests that asset size, organisational structure being a member of the Irish League of Credit Unions and the loan to asset ratio are all important credit union specific drivers of internet banking adoption. We also find that characteristics of the area from where the credit union captures its members are important. Factors such as the percentage of the population that is employed, the proportion of the population in the age bracket 35 to 44, the proportion of the population that have access to broadband and the level of familiarity with a local ATM facility are all identified as influencing the probability of adopting internet banking.

SLA Brokering and Bandwidth Reservation Negotiation Schemes for QoS-aware Internet

We present a novel Service Level Agreement (SLA)-driven service provisioning architecture, which enables dynamic and flexible bandwidth reservation schemes on a per-user or per-application basis. Various session level SLA negotiation schemes involving bandwidth allocation, service start time and service duration parameters are introduced and analyzed. The results show that these negotiation schemes can be utilized for the benefit of both end users and network providers in achieving the highest individual SLA optimization in terms of key Quality of Service (QoS) metrics and price. The inherent characteristics of software agents such as autonomy, adaptability and social abilities offer many advantages in this dynamic, complex, and distributed network environment especially when performing Service Level Agreements (SLA) definition negotiations and brokering tasks. This article also presents a service broker prototype based on Fujitsu's Phoenix Open Agent Mediator (OAM) agent technology, which was used to demonstrate a range of SLA brokering scenarios.

Loss-of-Mains Detection by Internet Based ROCOF

This paper considers the enhancement of loss-of-mains detection by use of a differential rate-of-change-of-frequency relay to reduce nuisance tripping and improve sensitivity to small excursions in frequency. The telecommunications media which might carry the differential ROCOF signal are reviewed with a focus on channel latency, bandwidth and security.

Internet Based Loss-of-Mains Detection for Distributed Generation

This paper discusses methods of using the Internet as a communications media between distributed generator sites to provide new forms of loss-of-mains protection. An analysis of the quality of the communications channels between several nodes on the network was carried out experimentally. It is shown that Internet connections in urban environments are already capable of providing real-time power system protection, whilst rural Internet connections are borderline suitable but could not yet be recommended as a primary method of protection. Two strategies of providing loss-of-mains across Internet protocol are considered, broadcast of a reference frequency or phasor representing the utility and an Internet based inter-tripping scheme.