Smart distribution grid needs data communication systems as a support to complete their important functions. The smart distribution grid of the data and information are increasingly adopting internet protocol and Ethe...Smart distribution grid needs data communication systems as a support to complete their important functions. The smart distribution grid of the data and information are increasingly adopting internet protocol and Ethernet technology. The IP addresses are more and more important for the smart distribution grid equipment. The current IPv4 protocol occupies a dominant position; therefore, the challenges of the evolution to IPv6 and network security are faced by data communication systems of the smart distribution grid. The importance of data communications network and its main bearer of business were described. The data communications network from IPv4 to IPv6 evolution of the five processes and four stages of the transition were analyzed. The smart distribution grid data communications network security and types of their offensive and defensive were discussed. And the data communications network security architecture was established. It covers three dimensions, the security level, the communications network security engineering and the communications network security management. The security architecture safeguards the evolution to IPv6 for the smart distribution grid data communication systems.展开更多
The great success of the Sojourner rover in the Mars Pathfinder mission set off a global upsurge of planetary exploration with autonomous wheeled mobile robots(WMRs),or rovers.Planetary WMRs are among the most intelli...The great success of the Sojourner rover in the Mars Pathfinder mission set off a global upsurge of planetary exploration with autonomous wheeled mobile robots(WMRs),or rovers.Planetary WMRs are among the most intelligent space systems that combine robotic intelligence(robint),virtual intelligence(virtint),and human intelligence(humint) synergetically.This article extends the architecture of the three-layer intelligence stemming from successful Mars rovers and related technologies in order to support the R&D of future tele-operated robotic systems.Double-layer human-machine interfaces are suggested to support the integration of humint from scientists and engineers through supervisory(Mars rovers) or three-dimensional(3D) predictive direct tele-operation(lunar rovers).The concept of multilevel autonomy to realize robint,in particular,the Coupled-Layer Architecture for Robotic Autonomy developed for Mars rovers,is introduced.The challenging issues of intelligent perception(proprioception and exteroception),navigation,and motion control of rovers are discussed,where the terrains' mechanical properties and wheel-terrain interaction mechanics are considered to be key.Double-level virtual simulation architecture to realize virtint is proposed.Key technologies of virtint are summarized:virtual planetary terrain modeling,virtual intelligent rover,and wheel-terrain interaction mechanics.This generalized three-layer intelligence framework is also applicable to other systems that require human intervention,such as space robotic arms,robonauts,unmanned deep-sea vehicles,and rescue robots,particularly when there is considerable time delay.展开更多
文摘Smart distribution grid needs data communication systems as a support to complete their important functions. The smart distribution grid of the data and information are increasingly adopting internet protocol and Ethernet technology. The IP addresses are more and more important for the smart distribution grid equipment. The current IPv4 protocol occupies a dominant position; therefore, the challenges of the evolution to IPv6 and network security are faced by data communication systems of the smart distribution grid. The importance of data communications network and its main bearer of business were described. The data communications network from IPv4 to IPv6 evolution of the five processes and four stages of the transition were analyzed. The smart distribution grid data communications network security and types of their offensive and defensive were discussed. And the data communications network security architecture was established. It covers three dimensions, the security level, the communications network security engineering and the communications network security management. The security architecture safeguards the evolution to IPv6 for the smart distribution grid data communication systems.
基金supported by the National Natural Science Foundation of China(Grant No.61370033)National Basic Research Program of China(Grant No.2013CB035502)+4 种基金Foundation of Chinese State Key Laboratory of Robotics and Systems(Grant Nos.SKLRS201401A01,SKLRS-2014-MS-06)the Fundamental Research Funds for the Central Universities(Grant No.HIT.BRETIII.201411)Harbin Talent Programme for Distinguished Young Scholars(No.2014RFYXJ001)Postdoctoral Youth Talent Foundation of Heilongjiang Province,China(Grant No.LBH-TZ0403)the"111 Project"(Grant No.B07018)
文摘The great success of the Sojourner rover in the Mars Pathfinder mission set off a global upsurge of planetary exploration with autonomous wheeled mobile robots(WMRs),or rovers.Planetary WMRs are among the most intelligent space systems that combine robotic intelligence(robint),virtual intelligence(virtint),and human intelligence(humint) synergetically.This article extends the architecture of the three-layer intelligence stemming from successful Mars rovers and related technologies in order to support the R&D of future tele-operated robotic systems.Double-layer human-machine interfaces are suggested to support the integration of humint from scientists and engineers through supervisory(Mars rovers) or three-dimensional(3D) predictive direct tele-operation(lunar rovers).The concept of multilevel autonomy to realize robint,in particular,the Coupled-Layer Architecture for Robotic Autonomy developed for Mars rovers,is introduced.The challenging issues of intelligent perception(proprioception and exteroception),navigation,and motion control of rovers are discussed,where the terrains' mechanical properties and wheel-terrain interaction mechanics are considered to be key.Double-level virtual simulation architecture to realize virtint is proposed.Key technologies of virtint are summarized:virtual planetary terrain modeling,virtual intelligent rover,and wheel-terrain interaction mechanics.This generalized three-layer intelligence framework is also applicable to other systems that require human intervention,such as space robotic arms,robonauts,unmanned deep-sea vehicles,and rescue robots,particularly when there is considerable time delay.
