结合操作者意图分析的Internet机器人控制方法研究

互联网传输过程中存在的随机时延,影响了操作者与遥操作机器人之间的实时交互,降低了系统稳定性和操作性能。论文提出一种新的方法,利用动态神经元群模型对操作者发送的控制指令序列进行分析,实现对操作者意图的推断。在随机时延条件下,遥操作机器人能够根据操作者意图和当前环境信息,通过局部自主控制完成期望任务动作。同时可以与主端操作者基于事件的控制指令进行切换,来保证系统的稳定性,提高整个控制系统的操作性能和效率。最后,通过互联网足球机器人平台进行实验,仿真结果验证了所提模型与方法的有效性和可行性。

基于评价选择策略的Internet多机器人协作控制研究

针对Internet多机器人系统中存在的操作指令延迟、工作效率低、协作能力差等问题,提出了多机器人神经元群网络控制模型。在学习过程中,来自不同功能区域的多类型神经元连接形成动态神经元群集,来描述各机器人的运动行为与外部条件、内部状态之间复杂的映射关系,通过对内部权值连接的评价选择,以实现最佳的多机器人运动行为协调。以互联网足球机器人系统为实验平台,给出了学习算法描述。仿真结果表明,己方机器人成功实现了配合射门的任务要求,所提模型和方法提高了多机器人的协作能力,并满足系统稳定性和实时性要求。

基于Internet的遥操作机器人足球系统设计

针对目前基于Internet的遥操作机器人系统普遍完成任务简单,复杂度低,影响力有限的状况,本文将遥操作技术和Internet技术应用于具有高动态性、高协作性和高对抗性的机器人足球系统中,建立了基于Internet的遥操作机器人足球系统的体系结构,提供了该系统的软件设计方法,并针对网络通信设计了应用UDP协议进行连接和数据传输的方法.实际建立的基于Internet的3对3遥操作机器人足球系统验证了系统设计方法的可行性和有效性.通过实验验证了应用UDP协议进行连接和数据传输相对于应用TCP协议的优越性.

基于Internet的力反馈技术研究

论述了基于Internet的力反馈技术及其相关技术的发展和研究意义 ,综合机器人遥操作控制领域的理论方法 ,结合多媒体技术的最新发展 ,构建了一种基于事件的系统结构及其设计方法 .基于该方法 ,分析了系统的可靠性、稳定性及力媒体传输的透明性 ,并设计了一个基于Internet的力反馈技术的系统实例

具有实时性保障的INTERNET机器人控制系统设计方法

本文提出了一种具有实时性、可靠性保障的INTERNET网络机器人控制系统的设计方法。基于该方法设计的网络实时控制系统能够满足机器人实时、高效、灵活的技术特点。该方法的核心为基于UDP传输协议的网络数据补偿算法,通过对网络传输过程中丢失的数据进行实时在线补偿预测,降低了网络数据的丢失对系统的影响。实验结果证明该方法的有效性、合理性。

基于Internet的机器人控制中网络时延测试及分析

本文针对基于 Internet的机器人控制 ,首先分析了 Internet网络时间延迟的主要组成及其基本特性 ,然后介绍了网络时延测试实验的结果及其结论 ,最后研究了网络时延预估算法及其有效性.

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。

基于Internet的机器人控制研究

本文分析了Internet网络时间延迟的主要组成及其基本特性,介绍了网络时延测试实验的结果及其结论,以及当前存在的典型遥操作控制方法,对这些方法在基于Internet的机器人控制中的适用性进行了探讨,进一步给出了基于Internet的机器人遥操作系统的信息流程图,设计了以移动机器人为对象的基于Internet的机器人控制系统和时延补偿方法。

基于Internet的机器人遥操作实验平台的设计与实现

本文介绍了一种面向Internet的机器人遥操作系统实验平台,着重阐述了在平台的设计和实现过程中对数据通信问题的分析和解决。

基于Notes/Domino的Internet/Intranet数据库全文检索

简述了 Lotus Notes软件及其数据库特性 ,介绍了 Notes数据库构建和在 Internet/Intranet环境下提供全文检索的途径和方式。

公共政策制定程序对政策可接受性的影响

This research addresses the problems of public policy-making procedures. In conducting our research, we considered public policy as the allocation or reallocation of interests or resources among different members of the public. Due to limited resources, administrations should trade off all interests among different segments of society when formulating a policy. Unfortunately, in recent years there have been several mass conflicts with administration of public policy. This infers that some people’s interests were ignored or harmed by certain policies. According to the theory of procedural justice, people may accept the unexpected result if they consider the procedure is just. This research hypothesizes that there are certain problems in current policy-making procedures and that improving these procedures may make policies more acceptable. A pilot study was conducted by interviewing ten scholars from a range of disciplines. The interview record transcripts were coded by three analysts. The results indicate that: 1) Most of the scholars criticized current public policies as lacking sensitivity to public issues; 2) Most of them considered that current public policies do not resolve problems effectively; and 3) They all considered that psychology research may enhance awareness of public issues and improve the effectiveness of policy. In study 2, the procedure of public policy was tracked and compared with a social survey. The Beijing government would like to increase the taxi fare rate to cope with the rising price of petroleum. Although the majority of delegates in a hearing of witnesses supported the policy consideration, the social survey of 186 residents and 63 taxi drivers indicated that both of them oppose the consideration. The findings indicate that the hearing of witnesses was not able to delegate the opinions of the public, resulting in the policy failing to resolve the problem. Study 3 was a nonequivalent control group quasi-experiment. Visitors of two Internet Website were chosen as subjects for original photo games. For the experiment group, visitors were invited to express their desires and suggestions on the game rules for one week, and then declare rules referencing the suggestions before starting the game. Meanwhile, the control group simply declared the rules at the beginning of the game. Compared with the two games during 23 days, the experiment group submitted more photos than the control group. The results of this research imply that, the good will of policy makers is not enough to make a policy effective. Surveys on public attitudes at the beginning of the policy-making process can allow policy makers to better determine public issues, assess the tradeoff of public interests, help ensure policies are more acceptable, and help foster a harmonious society. The authors of this research suggest that psychology research should take more social level problems into account in the policy-making process.

Base de dados meteorologicos do CNPH na internet.

2000

A Internet como veículo de comunicação, difusão de resultados e imagem institucional na Embrapa Monitoramento por Satélite: I. Infraestrutura e funcionamento.

A Embrapa Monitoramento por Satélite, desde 1991, adaptou-se a esse novo cenário tecnológico e vem aprimorando, sempre que possível, seus recursos físicos e humanos a essa realidade. Justamente por estar acompanhando e aplicando essa tecnologia desde seu início, a Unidade possui um histórico de acontecimentos e desenvolvimento de infraestrutura, linguagens computacionais e metodologias que refletem exatamente a rapidez com a qual a Internet vem se desenvolvendo e a amplitude de aplicações que vem oferecendo. Este histórico é apresentado no trabalho, com o intuito de resgate e registro da experiência da equipe do Centro, nesta área específica do conhecimento humano, avaliando as transformações e adaptações de tecnologias e linguagens e sua importância como instrumento de comunicação direta com a sociedade.

Internet Fish

I have invented "Internet Fish," a novel class of resource-discovery tools designed to help users extract useful information from the Internet. Internet Fish (IFish) are semi-autonomous, persistent information brokers; users deploy individual IFish to gather and refine information related to a particular topic. An IFish will initiate research, continue to discover new sources of information, and keep tabs on new developments in that topic. As part of the information-gathering process the user interacts with his IFish to find out what it has learned, answer questions it has posed, and make suggestions for guidance. Internet Fish differ from other Internet resource discovery systems in that they are persistent, personal and dynamic. As part of the information-gathering process IFish conduct extended, long-term conversations with users as they explore. They incorporate deep structural knowledge of the organization and services of the net, and are also capable of on-the-fly reconfiguration, modification and expansion. Human users may dynamically change the IFish in response to changes in the environment, or IFish may initiate such changes itself. IFish maintain internal state, including models of its own structure, behavior, information environment and its user; these models permit an IFish to perform meta-level reasoning about its own structure. To facilitate rapid assembly of particular IFish I have created the Internet Fish Construction Kit. This system provides enabling technology for the entire class of Internet Fish tools; it facilitates both creation of new IFish as well as additions of new capabilities to existing ones. The Construction Kit includes a collection of encapsulated heuristic knowledge modules that may be combined in mix-and-match fashion to create a particular IFish; interfaces to new services written with the Construction Kit may be immediately added to "live" IFish. Using the Construction Kit I have created a demonstration IFish specialized for finding World-Wide Web documents related to a given group of documents. This "Finder" IFish includes heuristics that describe how to interact with the Web in general, explain how to take advantage of various public indexes and classification schemes, and provide a method for discovering similarity relationships among documents.