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一种人-自动化系统协作的无人机航迹规划方法 被引量:3
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作者 杨俊超 史越 马海明 《计算机测量与控制》 2015年第9期3216-3218,3224,共4页
为解决无人机航迹规划中考虑"人在闭环"控制需求、结合人机综合优势以进一步提高规划能力的问题,提出了一种人-自动化系统协作的航迹规划方法;该方法利用操控员选取人工引导路径点,以起始点、人工引导路径点和目标点为根节点... 为解决无人机航迹规划中考虑"人在闭环"控制需求、结合人机综合优势以进一步提高规划能力的问题,提出了一种人-自动化系统协作的航迹规划方法;该方法利用操控员选取人工引导路径点,以起始点、人工引导路径点和目标点为根节点形成多树扩展;引入Dubins曲线应用于随机树扩展和寻找最近子节点过程,改善航迹平滑性;仿真实验结果表明,该方法在自动化系统局部自主能力的基础上引入人的智能,规划效率和可靠性得到了提高,可用于无人机航迹规划实践。 展开更多
关键词 无人机 人-自动化系统协作 快速扩展随机树 航迹规划 Dubins曲线
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自动化飞机驾驶舱中人-自动化系统交互作用的心理学研究 被引量:18
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作者 许为 《心理科学》 CSSCI CSCD 北大核心 2003年第3期523-524,共2页
1 引言 自动化技术的引进改变了飞机驾驶舱的人机界面和飞行操作方式.自动化驾驶舱不仅给飞行员提供了对自动化控制层次(即手动、半自动和全自动)的选择,而且也提供了由自动油门、俯仰和横滚三种维度组成的百余种飞行控制方式,从而飞行... 1 引言 自动化技术的引进改变了飞机驾驶舱的人机界面和飞行操作方式.自动化驾驶舱不仅给飞行员提供了对自动化控制层次(即手动、半自动和全自动)的选择,而且也提供了由自动油门、俯仰和横滚三种维度组成的百余种飞行控制方式,从而飞行员可通过自动化系统监控飞行操纵. 展开更多
关键词 自动化飞机驾驶舱 人-自动化系统 交互作用 心理学研究 决策权 飞行员 自动化意识
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Complete geometric nonlinear formulation for rigid-flexible coupling dynamics 被引量:4
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作者 刘铸永 洪嘉振 刘锦阳 《Journal of Central South University》 SCIE EI CAS 2009年第1期119-124,共6页
A complete geometric nonlinear formulation for rigid-flexible coupling dynamics of a flexible beam undergoing large overall motion was proposed based on virtual work principle, in which all the high-order terms relate... A complete geometric nonlinear formulation for rigid-flexible coupling dynamics of a flexible beam undergoing large overall motion was proposed based on virtual work principle, in which all the high-order terms related to coupling deformation were included in dynamic equations. Simulation examples of the flexible beam with prescribed rotation and free rotation were investigated. Numerical results show that the use of the first-order approximation coupling (FOAC) model may lead to a significant error when the flexible beam experiences large deformation or large deformation velocity. However, the correct solutions can always be obtained by using the present complete model. The difference in essence between this model and the FOAC model is revealed. These coupling high-order terms, which are ignored in FOAC model, have a remarkable effect on the dynamic behavior of the flexible body. Therefore, these terms should be included for the rigid-flexible dynamic modeling and analysis of flexible body undergoing motions with high speed. 展开更多
关键词 flexible beam rigid-flexible coupling dynamic modeling numerical simulation
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Self-Tuning Asynchronous Filter for Linear Gaussian System and Applications
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作者 Wenjun Lv Yu Kang Yunbo Zhao 《IEEE/CAA Journal of Automatica Sinica》 SCIE EI CSCD 2018年第6期1054-1061,共8页
In this paper, optimal filtering problem for a class of linear Gaussian systems is studied. The system states are updated at a fast uniform sampling rate and the measurements are sampled at a slow uniform sampling rat... In this paper, optimal filtering problem for a class of linear Gaussian systems is studied. The system states are updated at a fast uniform sampling rate and the measurements are sampled at a slow uniform sampling rate. The updating rate of system states is several times the sampling rate of measurements and the multiple is constant. To solve the problem,we will propose a self-tuning asynchronous filter whose contributions are twofold. First, the optimal filter at the sampling times when the measurements are available is derived in the linear minimum variance sense. Furthermore, considering the variation of noise statistics, a regulator is introduced to adjust the filtering coefficients adaptively. The case studies of wheeled robot navigation system and air quality evaluation system will show the effectiveness and practicability in engineering. 展开更多
关键词 Air quality evaluation system linear Gaussian system wheeled robot navigation system
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Linear and nonlinear control of a robotic excavator 被引量:3
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作者 顾军 MA Xian-dong +1 位作者 倪俊芳 孙立宁 《Journal of Central South University》 SCIE EI CAS 2012年第7期1823-1831,共9页
Various control systems for a robotic excavator named LUCIE (Lancaster University Computerized and Intelligent Excavator),were investigated. The excavator is being developed to dig trenches autonomously. One stumbling... Various control systems for a robotic excavator named LUCIE (Lancaster University Computerized and Intelligent Excavator),were investigated. The excavator is being developed to dig trenches autonomously. One stumbling block is the achievement of adequate,accurate,quick and smooth movement under automatic control. Here,both classical and modern approaches are considered,including proportional-integral-derivative (PID) control tuned by conventional Zigler-Nichols rules,linear proportional-integral-plus (PIP) control,and a novel nonlinear PIP controller based on a state-dependent parameter (SDP) model structure,in which the parameters are functionally dependent on other variables in the system. Implementation results for the excavator joint arms control demonstrate that SDP-PIP controller provides the improved performance with fast,smooth and accurate response in comparison with both PID and linearized PIP control. 展开更多
关键词 robotic excavator proportional-integral-derivative (PID) control proportional-integral-plus (PIP) control IDENTIFICATION state-dependent parameter model state variable feedback
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Main Stages of Evolution from Mechanical Automatic Systems to Humanoid Robot
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作者 Ionel Staretu 《Journal of Mechanics Engineering and Automation》 2015年第5期309-316,共8页
Since ancient times, man has been concerned to create an artificial structure similar to itself. This concern has remained constant attention and creative thinkers most profound since antiquity until today, it is of g... Since ancient times, man has been concerned to create an artificial structure similar to itself. This concern has remained constant attention and creative thinkers most profound since antiquity until today, it is of greatest interest. This article aims to highlight the most significant moments of the evolution from mechanical creatures mythical or real, from antiquity to the present humanoid robots. There are thus shown the most significant variants humanoid imagined or realized since Talos, described in Greek mythology, continuing with mechanical machines during late Roman Empire, the Byzantine Empire and then the Renaissance of the post-renaissance, then they are shown the main achievements of the industrialization period from the nineteenth to the early part of the twentieth century, then to the most important made in the last decades of the twentieth century and early twenty-first century. The work is important to stimulate concerns academic theorists and practice but also in the industrial practice specializing in robotics and more generally in mechatronics. It also opens the prospect of defining the concept of an artificial humanoid useful both for human prosthesis with certain disabilities, and a humanoid robot performance. 展开更多
关键词 Mechanical automate humanoid robot service robot medical robot robotics market.
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Optimised Pattern Recognition for Robotic Weldment Geometry Measuring
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作者 Guido Hoffmeier Maria Plyusnina +1 位作者 Bernd Kuhlenkoetter Jobst Bickendorf 《Journal of Mechanics Engineering and Automation》 2012年第11期688-693,共6页
Today, automated robot welding of components with low tolerances in series production is state-of-the-art. But turning to small batch production particularly of parts with high tolerances, engineering and construction... Today, automated robot welding of components with low tolerances in series production is state-of-the-art. But turning to small batch production particularly of parts with high tolerances, engineering and construction of automated solutions is just at the beginning of providing economic efficiency. While weld seam tracking is well established for the described problem, geometric recognition of weldments is not yet solved satisfactorily. This paper will present an optimisation approach of a laser sensor guided and programmed robot welding system which was developed within the project ROPROF at the TU Dortmund. With this development, a working prototype of a robot weld system was built by a steel construction company as well as additional demonstration software showing the potential and transferability of adjusted geometric location of weldments for industrial applications. 展开更多
关键词 Geometry measuring welding process control welding start point search seam finding error correction.
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