移动机器人人机互助行走监控方法研究及其实际应用

由于行走监控在移动机器人技术中的独特地位和作用，使得其问题解决路线与最终性能极大地影响着构成系统的实用性及用户接受程度．本文通过剖析行走监控同其他模块的内在联系，深入地讨论了研究此问题的必要性和困难所在．最后，结合一个实际应用系统，给出了行之有效的指导思想、实现策略和关键问题解决途径。

智能机器人分层系统中的人机交互

在非结构环境里工作的智能机器人,人智能的介入有时是必不可少的.本文研究了这类机器人系统人机接口某些问题,提出了人智能输入的分层输入原则,实时性原则和协调性原则,讨论了人机接口的结构和实现问题,给出了人机接口命令的一种格式,并提出了人机操作的实际例子.

PASSIM卷接机组新型电控系统的设计与实现

PASSIM卷接机组原控制系统采用电路板进行逻辑控制,抗干扰性能差,故障率高,造成生产效率降低、原材料消耗增大、维修工作繁重等。为此,设计了一套新型卷接机组电气控制系统。该系统采用PLC进行过程控制,以工控机为上位机完成人机通信,采用交流伺服驱动,并通过高速信号处理专用系统完成重量检测控制及烟支质量检测功能;利用PROFIBUS、CAN及MPI多种总线方式完成各单元间的通讯,实现信号和数据间的传递和共享。改进后的PASSIM机组运行稳定可靠,采样速度快,实时性强,且维修方便。机组的有效作业率由85%左右提高到90%以上,降低了卷烟纸和烟丝等原材料的消耗。

SIR: A Computer Program for Semantic Information Retrieval

SIR is a computer system, programmed in the LISP language, which accepts information and answers questions expressed in a restricted form of English. This system demonstrates what can reasonably be called an ability to "understand" semantic information. SIR's semantic and deductive ability is based on the construction of an internal model, which uses word associations and property lists, for the relational information normally conveyed in conversational statements. A format-matching procedure extracts semantic content from English sentences. If an input sentence is declarative, the system adds appropriate information to the model. If an input sentence is a question, the system searches the model until it either finds the answer or determines why it cannot find the answer. In all cases SIR reports its conclusions. The system has some capacity to recognize exceptions to general rules, resolve certain semantic ambiguities, and modify its model structure in order to save computer memory space. Judging from its conversational ability, SIR, is a first step toward intelligent man-machine communication. The author proposes a next step by describing how to construct a more general system which is less complex and yet more powerful than SIR. This proposed system contains a generalized version of the SIR model, a formal logical system called SIR1, and a computer program for testing the truth of SIR1 statements with respect to the generalized model by using partial proof procedures in the predicate calculus. The thesis also describes the formal properties of SIR1 and how they relate to the logical structure of SIR.

Evaluación y mejoramiento productivo de PLASPUCOL

Este proyecto de grado pretende evaluar el comportamiento productivo de la empresa Plaspucol ubicada en la ciudad de Bogotá, identificando las deficiencias en su proceso y generando mecanismo de mejoramiento a través de un previo análisis. Para ello es necesario partir de un marco teórico del plástico como lo es su historia, su evolución, clasificación y su posicionamiento e influencia económica a nivel mundial y vista a su vez desde el ámbito nacional. Para analizar dichas situaciones se usaron herramientas aprendidas en lo largo de nuestra formación profesional como los diagramas de recorrido, diagramas de flujo, diagrama hombre-máquina, diagrama de balanceo, muestreo y un moderno simulador llamado Promodel con el cual se diagnostica a la empresa identificando puntos débiles y cuellos de botella en la producción en la situación actual y se crea una situación futura con propuestas de mejora empleando éste simulador.

Gentlemen, stop your engines!

For fifty years, computer chess has pursued an original goal of Artificial Intelligence, to produce a chess-engine to compete at the highest level. The goal has arguably been achieved, but that success has made it harder to answer questions about the relative playing strengths of man and machine. The proposal here is to approach such questions in a counter-intuitive way, handicapping or stopping-down chess engines so that they play less well. The intrinsic lack of man-machine games may be side-stepped by analysing existing games to place computer engines as accurately as possible on the FIDE ELO scale of human play. Move-sequences may also be assessed for likelihood if computer-assisted cheating is suspected.

Generating virtual environments to allow increased access to the built environment

The problems encountered by individuals with disabilities when accessing large public buildings is described and a solution based on the generation of virtual models of the built environment is proposed. These models are superimposed on a control network infrastructure, currently utilised in intelligent building applications such as lighting, heating and access control. The use of control network architectures facilitates the creation of distributed models that closely mirror both the physical and control properties of the environment. The model of the environment is kept local to the installation which allows the virtual representation of a large building to be decomposed into an interconnecting series of smaller models. This paper describes two methods of interacting with the virtual model, firstly a two dimensional aural representation that can be used as the basis of a portable navigational device. Secondly an augmented reality called DAMOCLES that overlays additional information on a user’s normal field of view. The provision of virtual environments offers new possibilities in the man-machine interface so that intuitive access to network based services and control functions can be given to a user.

Haptic control of multi-axis robotic systems

Control of tele-operated remote robot’s is nothing new; the public was introduced to this 'new' field in 1986 when the Chernobyl cleanup began. Pictures of weird and wonderful robotic workers pouring concrete or moving rubble flooded the world. Integration of force feedback or 'haptics' to remote robot's is a new development and one that is likely to make a big difference in man-machine interaction. Development of haptic capable tele-operation schema is a challenge. Often platform specific software is developed for one off tasks. This research focussed on the development of an open software platform for haptic control of multiple remote robotic platforms. The software utilises efficient server/client architecture for low data latency, while efficiently performing required kinematic transforms and data manipulation in real time. A description of the algorithm, software interface and hardware is presented in this paper. Preliminary results are encouraging as haptic control has been shown to greatly enhances remote positioning tasks.

Advances in pervasive computing

Purpose – The purpose of this paper is to provide an overview of advances in pervasive computing.
Design/methodology/approach – The paper provides a critical analysis of the literature.
Findings – Tools expected to support these advances are: resource location framework, data management (e.g. replica control) framework, communication paradigms, and smart interaction mechanisms. Also, infrastructures needed to support pervasive computing applications and an information appliance should be easy for anyone to use and the interaction with the device should be intuitive.
Originality/value – The paper shows how everyday devices with embedded processing and connectivity could interconnect as a pervasive network of intelligent devices that cooperatively and autonomously collect, process and transport information, in order to adapt to the associated context and activity

Human-computer interaction in ubiquitous computing environments

Purpose – The purpose of this paper is to explore characteristics of human-computer interaction when the human body and its movements become input for interaction and interface control in pervasive computing settings.

Design/methodology/approach – The paper quantifies the performance of human movement based on Fitt's Law and discusses some of the human factors and technical considerations that arise in trying to use human body movements as an input medium.

Findings – The paper finds that new interaction technologies utilising human movements may provide more flexible, naturalistic interfaces and support the ubiquitous or pervasive computing paradigm.

Practical implications – In pervasive computing environments the challenge is to create intuitive and user-friendly interfaces. Application domains that may utilize human body movements as input are surveyed here and the paper addresses issues such as culture, privacy, security and ethics raised by movement of a user's body-based interaction styles.

Originality/value – The paper describes the utilization of human body movements as input for interaction and interface control in pervasive computing settings.

Prosthetic motor imaginary task classification using single channel of electroencephalography

Brain Computer Interface (BCI) is playing a very important role in human machine communications. Recent communication systems depend on the brain signals for communication. In these systems, users clearly manipulate their brain activity rather than using motor movements in order to generate signals that could be used to give commands and control any communication devices, robots or computers. In this paper, the aim was to estimate the performance of a brain computer interface (BCI) system by detecting the prosthetic motor imaginary tasks by using only a single channel of electroencephalography (EEG). The participant is asked to imagine moving his arm up or down and our system detects the movement based on the participant brain signal. Some features are extracted from the brain signal using Mel-Frequency Cepstrum Coefficient and based on these feature a Hidden Markov model is used to help in knowing if the participant imagined moving up or down. The major advantage in our method is that only one channel is needed to take the decision. Moreover, the method is online which means that it can give the decision as soon as the signal is given to the system. Hundred signals were used for testing, on average 89 % of the up down prosthetic motor imaginary tasks were detected correctly. This method can be used in many different applications such as: moving artificial prosthetic limbs and wheelchairs due to it's high speed and accuracy.

Desenvolvimento de um sistema de automação para uma planta de inertização de resíduos por plasma

The traditional processes for treatment of hazardous waste are questionable for it generates other wastes that adversely affect people s health. As an attempt to minimize these problems, it was developed a system for treatment of hazardous waste by thermal plasma, a more appropriate technology since it produces high temperatures, preventing the formation of toxic pollutants to human beings. The present work brings out a solution of automation for this plant. The system has local and remote monitoring resources to ensure the operators security as well as the process itself. A special attention was given to the control of the main reactor temperature of the plant as it is the place where the main processing occurs and because it presents a complex mathematical model. To this, it was employed cascaded controls based on Fuzzy logic. A process computer, with a particular man-machine interface (MMI), provides information and controls of the plant to the operator, including by Internet. A compact PLC module is in charge of the central element of management automation and plant control which receives information from sensors, and sends it to the MMI

The influence of the flexibility of the chair seat on pressure peak and distribution of the contact area in individuals with cerebral palsy during the execution of a task

This study aimed to determine the influence of flexibility of the chair seat surface on the pressure peak and on the contact area during the execution of a task of handling an object on the seated position by individuals with spastic cerebral palsy. Ten individuals of both genders with diagnosis of spastic cerebral palsy, who had some control to voluntarily move the body and the upper limbs, participated in this study. Quantification of data was carried out in two experimental situations: (1) execution of a task of fitting with upper limbs, and with the individual placed on an adapted canvas seat; (2) execution of a task of fitting with the participant positioned on an adapted wooden seat. Data obtained were submitted to a non-parametric and descriptive statistical analysis using the Wilcoxon test. Results indicated that the use of canvas seat increased the contact area and decreased the pressure peak and the medio-lateral displacement of centre pressure on the seated posture. © 2011 Informa UK, Ltd.

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