The inherent complexity and uncertainty of multi-operator multi-robot （MOMR） tele-operation system make its safeguard an essential problem. Hazardous factors in the system are analyzed using fault tree analysis（FTA...The inherent complexity and uncertainty of multi-operator multi-robot （MOMR） tele-operation system make its safeguard an essential problem. Hazardous factors in the system are analyzed using fault tree analysis（FTA） technology, and three-layer interactive safety architecture with information flow is designed in modules to control the factors according to the holistic control mode. After that, distributed virtual environment （DVE） including the characteristics of virtual guide （VG） technology is discussed to help the operators achieve some tasks through the visibility of control commands, time-delay, movement collision and operators＇ intentions. Finally an experiment is implemented to test the efficiency of safety control architecture by using two robots to place some building blocks in the same workspace.展开更多
以北京工商大学良乡校区为示例,介绍了如何实现网上在线浏览虚拟校园.系统采用M u ltiG en建模工具建模,实现了从M u ltiG en的O pen F light格式到VRM L格式的模型格式转换,实现了VRM L虚拟空间和外部数据通信,讨论了如何提高漫游的速...以北京工商大学良乡校区为示例,介绍了如何实现网上在线浏览虚拟校园.系统采用M u ltiG en建模工具建模,实现了从M u ltiG en的O pen F light格式到VRM L格式的模型格式转换,实现了VRM L虚拟空间和外部数据通信,讨论了如何提高漫游的速度和实时性问题.展开更多
The messaging mechanism in distributed Virtual Environments (dVEs) deals with the issue of message delivery between participating entities and users. As dVEs are scaling up to an arbitrarily large size, any workable m...The messaging mechanism in distributed Virtual Environments (dVEs) deals with the issue of message delivery between participating entities and users. As dVEs are scaling up to an arbitrarily large size, any workable messaging mechanism must support real time interactions between a huge number of entities. This paper presents a new messaging scheme based on the autonomous messaging paradigm and demonstrates its strength in solving the challenging problems facing the messaging mechanism in large scale dVEs.展开更多
By importing the idea of P2P,and transmitting messages among clients directly into the client-server architecture,a new hybrid architecture was presented with the help of AOI technology and message category.Theoretica...By importing the idea of P2P,and transmitting messages among clients directly into the client-server architecture,a new hybrid architecture was presented with the help of AOI technology and message category.Theoretical analysis of this architecture was presented in detail.A series of simulation experiments was carried out to verify its effectiveness.Results indicate that the new architecture produces less server message workload than traditional architectures,which can improve the scalability of DVE systems.展开更多
文摘The inherent complexity and uncertainty of multi-operator multi-robot （MOMR） tele-operation system make its safeguard an essential problem. Hazardous factors in the system are analyzed using fault tree analysis（FTA） technology, and three-layer interactive safety architecture with information flow is designed in modules to control the factors according to the holistic control mode. After that, distributed virtual environment （DVE） including the characteristics of virtual guide （VG） technology is discussed to help the operators achieve some tasks through the visibility of control commands, time-delay, movement collision and operators＇ intentions. Finally an experiment is implemented to test the efficiency of safety control architecture by using two robots to place some building blocks in the same workspace.
文摘The messaging mechanism in distributed Virtual Environments (dVEs) deals with the issue of message delivery between participating entities and users. As dVEs are scaling up to an arbitrarily large size, any workable messaging mechanism must support real time interactions between a huge number of entities. This paper presents a new messaging scheme based on the autonomous messaging paradigm and demonstrates its strength in solving the challenging problems facing the messaging mechanism in large scale dVEs.
基金Sponsored by the National Basic Research Program of China(Grant No.2002CB312200)the National Natural Science Foundation of China(Grant No.60575036)
文摘By importing the idea of P2P,and transmitting messages among clients directly into the client-server architecture,a new hybrid architecture was presented with the help of AOI technology and message category.Theoretical analysis of this architecture was presented in detail.A series of simulation experiments was carried out to verify its effectiveness.Results indicate that the new architecture produces less server message workload than traditional architectures,which can improve the scalability of DVE systems.
