A real-time adaptive roles allocation method based on reinforcement learning is proposed to improve humanrobot cooperation performance for a curtain wall installation task.This method breaks the traditional idea that ...A real-time adaptive roles allocation method based on reinforcement learning is proposed to improve humanrobot cooperation performance for a curtain wall installation task.This method breaks the traditional idea that the robot is regarded as the follower or only adjusts the leader and the follower in cooperation.In this paper,a self-learning method is proposed which can dynamically adapt and continuously adjust the initiative weight of the robot according to the change of the task.Firstly,the physical human-robot cooperation model,including the role factor is built.Then,a reinforcement learningmodel that can adjust the role factor in real time is established,and a reward and actionmodel is designed.The role factor can be adjusted continuously according to the comprehensive performance of the human-robot interaction force and the robot’s Jerk during the repeated installation.Finally,the roles adjustment rule established above continuously improves the comprehensive performance.Experiments of the dynamic roles allocation and the effect of the performance weighting coefficient on the result have been verified.The results show that the proposed method can realize the role adaptation and achieve the dual optimization goal of reducing the sum of the cooperator force and the robot’s Jerk.展开更多
Space robotics are the development of general purpose machines that is capable of surviving (for a time, at least) in the rigors of the space environment, and performing exploration, assembly, construction, maintenanc...Space robotics are the development of general purpose machines that is capable of surviving (for a time, at least) in the rigors of the space environment, and performing exploration, assembly, construction, maintenance, servicing. Space Robots can perform tasks less expensively or on an accelerated schedule, with less risk and occasionally with improved performance while humans doing the same tasks. The moon is the natural next step in the exploration of our own universe. Understanding moon better will help us understand our neighbors in the solar system. In this paper, a concept of exploration and cooperation robotics on the moon is discussed. The concept requires not only to extend the exploration mission on the moon surface but also to address a way to integrate the developed robotics with each other. Sharing the information between robots is one of a concept’s features to reduce lime and power consumption in the exploration process. Moreover, several challenges are discussed here, which prevent the concept from developing in outer space or on moon.展开更多
Mozambique is an essential country in the Belt and Road Initiative,and it is also to cooperation between China and with Africa in energy resources.It is located in the critical node of the“East Africa Channel”and cl...Mozambique is an essential country in the Belt and Road Initiative,and it is also to cooperation between China and with Africa in energy resources.It is located in the critical node of the“East Africa Channel”and close to the“African Twin Ocean Railway”,which is an important strategic position.Mozambique has abundant mineral resources and vast reserves of advantageous minerals.The natural gas reserves of Mozambique ranked second in Africa.It also has world--class scale graphite and rich iron,gold,copper,niobium-tantalum and other resources.In recent years,the mining industry in this country has been rising and attracting many foreign companies to invest,including international mining giants such as Vale,Rio Tinto and large mining enterprises of China.This paper systematically studies the mineral resources endowment,exploration and development situations of natural gas,graphite,titanium-zircon placer deposits,niobium-tantalum,gold,iron and other strategic minerals in Mozambique,comprehensively analyzes the mining investment environment and the current situation of exploration and development of Chinese enterprises in Mozambique,and replans four safeguard areas of strategic mineral resources in critical short supply.Mozambique generally has good prospects of mining investment and a stable foundation for cooperation with China.Chinese enterprises can focus on oil and natural gas,graphite,titanium,zirconium,niobium,tantalum,and iron,which complement the needs of China,expand the mining capacity cooperation,and improve the ability to secure strategic mineral resources supply.展开更多
With the approval of the Chinese and Japanese governments, the Chinese Research Center for Mineral Resources Exploration was inaugurated on August 11, 1994, a project of technological cooperation co-sponsored by the C...With the approval of the Chinese and Japanese governments, the Chinese Research Center for Mineral Resources Exploration was inaugurated on August 11, 1994, a project of technological cooperation co-sponsored by the CAS and Japan International Cooperation Agency (JICA). Its domestic partners include the Geological Bureau of展开更多
Cooperative spatial exploration in initially unknown surroundings is a common embodied task in various applications and requires satisfactory coordination among the agents.Unlike many other research questions,there is...Cooperative spatial exploration in initially unknown surroundings is a common embodied task in various applications and requires satisfactory coordination among the agents.Unlike many other research questions,there is a lack of simulation platforms for the cooperative exploration problem to perform and statistically evaluate different methods before they are deployed in practical scenarios.To this end,this paper designs a simulation framework to run different models,which features efficient event scheduling and data sharing.On top of such a framework,we propose and implement two different cooperative exploration strategies,i.e.,the synchronous and asynchronous ones.While the coordination in the former approach is conducted after gathering the perceptive information from all agents in each round,the latter enables an ad-hoc coordination.Accordingly,they exploit different principles for assigning target points for the agents.Extensive experiments on different types of environments and settings not only validate the scheduling efficiency of our simulation engine,but also demonstrate the respective advantages of the two strategies on different metrics.展开更多
基金The research has been generously supported by Tianjin Education Commission Scientific Research Program(2020KJ056),ChinaTianjin Science and Technology Planning Project(22YDTPJC00970),China.The authors would like to express their sincere appreciation for all support provided.
文摘A real-time adaptive roles allocation method based on reinforcement learning is proposed to improve humanrobot cooperation performance for a curtain wall installation task.This method breaks the traditional idea that the robot is regarded as the follower or only adjusts the leader and the follower in cooperation.In this paper,a self-learning method is proposed which can dynamically adapt and continuously adjust the initiative weight of the robot according to the change of the task.Firstly,the physical human-robot cooperation model,including the role factor is built.Then,a reinforcement learningmodel that can adjust the role factor in real time is established,and a reward and actionmodel is designed.The role factor can be adjusted continuously according to the comprehensive performance of the human-robot interaction force and the robot’s Jerk during the repeated installation.Finally,the roles adjustment rule established above continuously improves the comprehensive performance.Experiments of the dynamic roles allocation and the effect of the performance weighting coefficient on the result have been verified.The results show that the proposed method can realize the role adaptation and achieve the dual optimization goal of reducing the sum of the cooperator force and the robot’s Jerk.
文摘Space robotics are the development of general purpose machines that is capable of surviving (for a time, at least) in the rigors of the space environment, and performing exploration, assembly, construction, maintenance, servicing. Space Robots can perform tasks less expensively or on an accelerated schedule, with less risk and occasionally with improved performance while humans doing the same tasks. The moon is the natural next step in the exploration of our own universe. Understanding moon better will help us understand our neighbors in the solar system. In this paper, a concept of exploration and cooperation robotics on the moon is discussed. The concept requires not only to extend the exploration mission on the moon surface but also to address a way to integrate the developed robotics with each other. Sharing the information between robots is one of a concept’s features to reduce lime and power consumption in the exploration process. Moreover, several challenges are discussed here, which prevent the concept from developing in outer space or on moon.
基金Supported by projects of China Geological Survey(Nos.DD20190457,DD20160119 and DD20190415).
文摘Mozambique is an essential country in the Belt and Road Initiative,and it is also to cooperation between China and with Africa in energy resources.It is located in the critical node of the“East Africa Channel”and close to the“African Twin Ocean Railway”,which is an important strategic position.Mozambique has abundant mineral resources and vast reserves of advantageous minerals.The natural gas reserves of Mozambique ranked second in Africa.It also has world--class scale graphite and rich iron,gold,copper,niobium-tantalum and other resources.In recent years,the mining industry in this country has been rising and attracting many foreign companies to invest,including international mining giants such as Vale,Rio Tinto and large mining enterprises of China.This paper systematically studies the mineral resources endowment,exploration and development situations of natural gas,graphite,titanium-zircon placer deposits,niobium-tantalum,gold,iron and other strategic minerals in Mozambique,comprehensively analyzes the mining investment environment and the current situation of exploration and development of Chinese enterprises in Mozambique,and replans four safeguard areas of strategic mineral resources in critical short supply.Mozambique generally has good prospects of mining investment and a stable foundation for cooperation with China.Chinese enterprises can focus on oil and natural gas,graphite,titanium,zirconium,niobium,tantalum,and iron,which complement the needs of China,expand the mining capacity cooperation,and improve the ability to secure strategic mineral resources supply.
文摘With the approval of the Chinese and Japanese governments, the Chinese Research Center for Mineral Resources Exploration was inaugurated on August 11, 1994, a project of technological cooperation co-sponsored by the CAS and Japan International Cooperation Agency (JICA). Its domestic partners include the Geological Bureau of
基金This work was supported in part by the National Natural Science Foundation of China(Nos.61273300,62103428,62103425,and 62306329)the Natural Science Fund of Hunan Province(No.2023JJ40676).
文摘Cooperative spatial exploration in initially unknown surroundings is a common embodied task in various applications and requires satisfactory coordination among the agents.Unlike many other research questions,there is a lack of simulation platforms for the cooperative exploration problem to perform and statistically evaluate different methods before they are deployed in practical scenarios.To this end,this paper designs a simulation framework to run different models,which features efficient event scheduling and data sharing.On top of such a framework,we propose and implement two different cooperative exploration strategies,i.e.,the synchronous and asynchronous ones.While the coordination in the former approach is conducted after gathering the perceptive information from all agents in each round,the latter enables an ad-hoc coordination.Accordingly,they exploit different principles for assigning target points for the agents.Extensive experiments on different types of environments and settings not only validate the scheduling efficiency of our simulation engine,but also demonstrate the respective advantages of the two strategies on different metrics.
