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Challenges of human–machine collaboration in risky decision-making

《工程管理前沿（英文）》 2022年第9卷第1期页码 89-103 doi: 10.1007/s42524-021-0182-0

摘要： The purpose of this paper is to delineate the research challenges of human–machine collaboration in risky decision-making. Technological advances in machine intelligence have enabled a growing number of applications in human–machine collaborative decision-making. Therefore, it is desirable to achieve superior performance by fully leveraging human and machine capabilities. In risky decision-making, a human decision-maker is vulnerable to cognitive biases when judging the possible outcomes of a risky event, whereas a machine decision-maker cannot handle new and dynamic contexts with incomplete information well. We first summarize features of risky decision-making and possible biases of human decision-makers therein. Then, we argue the necessity and urgency of advancing human–machine collaboration in risky decision-making. Afterward, we review the literature on human–machine collaboration in a general decision context, from the perspectives of human–machine organization, relationship, and collaboration. Lastly, we propose challenges of enhancing human–machine communication and teamwork in risky decision-making, followed by future research avenues.

关键词： human–machine collaboration risky decision-making human–machine team and interaction task allocation human–machine relationship

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基于面向任务的协同特征向量的联盟形成算法 Article

Hao FANG,Shao-lei LU,Jie CHEN,Wen-jie CHEN

《信息与电子工程前沿（英文）》 2017年第18卷第1期页码 139-148 doi: 10.1631/FITEE.1601608

摘要：联盟形成是多智能体系统中一个重要的协同问题，对智能体的协同能力进行适当的描述是处理这个问题的一个基本且必要的前提。这篇文章对智能体的协同能力进行了建模，该模型由五个影响因素构成。同时，对任务需求向量进行了描述。提了一种随机机制以减少联盟形成过程中的过度竞争。此外，为了减少任务需求和实际任务需求之间的差距，提出了一种人工智能方法，该方法可以提高多智能体对人类指令的认知。实验结果显示了该模型及分布式人工智能方法的有效性。

关键词：协同向量；任务分配；多智能体系统；联盟形成；人工智能

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西北地区水资源配置生态环境建设和可持续发展战略研究

中国工程院“西北水资源”项目组

《中国工程科学》 2003年第5卷第4期页码 1-26

摘要：

西北地区地域广阔，资源丰富，民族众多，在我国的经济建设、社会稳定和国防安全方面都具有重要战略地位，同时又是我国极其重要的生态屏障。50多年来全区经济快速发展的同时，出现了土地荒漠化、水环境污染等种种生态问题，最突出的矛盾是水资源的配置问题，严重制约了社会经济的可持续发展。根据中央确定的“西部大开发”及开发要和生态环境建设相协调的方针，经国务院批准，中国工程院于2001年5月启动了“西北地区水资源配置、生态环境建设和可持续发展战略研究”的咨询项目。在深入调查和科学研究的基础上，“西北水资源”项目组认为，为了保证社会经济的可持续发展，必须确立人与自然和谐共存的发展方针，为此必须以水资源的可持续利用，支持社会经济的可持续发展；要统筹全局，合理安排生态环境建设；坚决调整产业结构和转变经济增长方式，建设高效节水防污的经济与社会；在水资源可持续利用和保护生态环境的条件下，相应地合理配置水资源；同时必须实施适当的人口政策，控制人口的过度增长。为此提出了强水资源的统一管理；退耕还牧还草；加强农业基础地位；发展工矿业，推进城镇化；建立西北地区生态环境建设的部门协调机制等10项战略对策。

关键词：中国西北地区水资源配置生态环境建设可持续发展战略

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A novel task-oriented framework for dual-arm robotic assembly task

《机械工程前沿（英文）》 2021年第16卷第3期页码 528-545 doi: 10.1007/s11465-021-0638-2

摘要： In industrial manufacturing, the deployment of dual-arm robots in assembly tasks has become a trend. However, making the dual-arm robots more intelligent in such applications is still an open, challenging issue. This paper proposes a novel framework that combines task-oriented motion planning with visual perception to facilitate robot deployment from perception to execution and finish assembly problems by using dual-arm robots. In this framework, visual perception is first employed to track the effects of the robot behaviors and observe states of the workpieces, where the performance of tasks can be abstracted as a high-level state for intelligent reasoning. The assembly task and manipulation sequences can be obtained by analyzing and reasoning the state transition trajectory of the environment as well as the workpieces. Next, the corresponding assembly manipulation can be generated and parameterized according to the differences between adjacent states by combining with the prebuilt knowledge of the scenarios. Experiments are set up with a dual-arm robotic system (ABB YuMi and an RGB-D camera) to validate the proposed framework. Experimental results demonstrate the effectiveness of the proposed framework and the promising value of its practical application.

关键词： dual-arm assembly AI reasoning intelligent system task-oriented motion planning visual perception

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基于AUV初始方向角和海流环境的SOM任务分配算法 Special Feature on Intelligent Robats

Da-qi ZHU, Yun QU, Simon X. YANG

《信息与电子工程前沿（英文）》 2019年第20卷第3期页码 330-341 doi: 10.1631/FITEE.1800562

摘要：实际水下环境存在海流。本文针对多自治机器人任务分配系统提出一个改进的自组织神经网络算法。该算法充分考虑自治水下机器人初始方向角和海流环境。每个自治水下机器人都参与竞争。选出实际航行路径最短的自治水下机器人作为获胜神经元，同时确保总航行路径最短。首先，初始化每个自治水下机器人的位置与方向角以及海流流速与方向。其次，通过竞争，选择海流环境下最短航行路径的水下机器人作为获胜神经元，并将该获胜神经元分配给相应目标点。为证明该算法有效性，给出相应仿真结果。

关键词：自治水下机器人；自组织神经网络；初始方向角；海流

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Risk evaluation for the task transfer of an aircraft maintenance program based on a multielement connection

《工程管理前沿（英文）》 doi: 10.1007/s42524-023-0282-0

摘要： This paper proposes a framework for evaluating the efficacy and suitability of maintenance programs with a focus on quantitative risk assessment in the domain of aircraft maintenance task transfer. The analysis is anchored in the principles of Maintenance Steering Group-3 (MSG-3) logic decision paradigms. The paper advances a holistic risk assessment index architecture tailored for the task transfer of maintenance programs. Utilizing the analytic network process (ANP), the study quantifies the weight interrelationships among diverse variables, incorporating expert-elicited subjective weighting. A multielement connection number-based evaluative model is employed to characterize decision-specific data, thereby facilitating the quantification of task transfer-associated risk through the appraisal of set-pair potentials. Moreover, the paper conducts a temporal risk trend analysis founded on partial connection numbers of varying orders. This analytical construct serves to streamline the process of risk assessment pertinent to maintenance program task transfer. The empirical component of this research, exemplified through a case study of the Boeing 737NG aircraft maintenance program, corroborates the methodological robustness and pragmatic applicability of the proposed framework in the quantification and analysis of mission transfer risk.

关键词： risk evaluation maintenance steering group analytic network process task transfer maintenance program

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High-efficiency inspecting method for mobile robots based on task planning for heat transfer tubes in

《机械工程前沿（英文）》 2023年第18卷第2期 doi: 10.1007/s11465-022-0741-z

摘要： Many heat transfer tubes are distributed on the tube plates of a steam generator that requires periodic inspection by robots. Existing inspection robots are usually involved in issues: Robots with manipulators need complicated installation due to their fixed base; tube mobile robots suffer from low running efficiency because of their structural restricts. Since there are thousands of tubes to be checked, task planning is essential to guarantee the precise, orderly, and efficient inspection process. Most in-service robots check the task tubes using row-by-row and column-by-column planning. This leads to unnecessary inspections, resulting in a long shutdown and affecting the regular operation of a nuclear power plant. Therefore, this paper introduces the structure and control system of a dexterous robot and proposes a task planning method. This method proceeds into three steps: task allocation, base position search, and sequence planning. To allocate the task regions, this method calculates the tool work matrix and proposes a criterion to evaluate a sub-region. And then all tasks contained in the sub-region are considered globally to search the base positions. Lastly, we apply an improved ant colony algorithm for base sequence planning and determine the inspection orders according to the planned path. We validated the optimized algorithm by conducting task planning experiments using our robot on a tube sheet. The results show that the proposed method can accomplish full task coverage with few repetitive or redundant inspections and it increases the efficiency by 33.31% compared to the traditional planning algorithms.

关键词： steam generator transfer tubes mobile robot dexterous structure task planning efficient inspection

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Real-time task processing method based on edge computing for spinning CPS

Shiyong YIN, Jinsong BAO, Jie LI, Jie ZHANG

《机械工程前沿（英文）》 2019年第14卷第3期页码 320-331 doi: 10.1007/s11465-019-0542-1

摘要： Spinning production is a typical continuous manufacturing process characterized by high speed and uncertain dynamics. Each manufacturing unit in spinning production produces various real-time tasks, which may affect production efficiency and yarn quality if not processed in time. This paper presents an edge computing-based method that is different from traditional centralized cloud computation because its decentralization characteristics meet the high-speed and high-response requirements of yarn production. Edge computing nodes, real-time tasks, and edge computing resources are defined. A system model is established, and a real-time task processing method is proposed for the edge computing scenario. Experimental results indicate that the proposed real-time task processing method based on edge computing can effectively solve the delay problem of real-time task processing in spinning cyber-physical systems, save bandwidth, and enhance the security of task transmission.

关键词： edge computing real-time task scheduling CPS spinning

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Achieving air pollutant emission reduction targets with minimum abatement costs: An enterprise-level allocation

《环境科学与工程前沿（英文）》 2022年第16卷第2期 doi: 10.1007/s11783-021-1459-6

摘要：

• Quantification of efficiency and fairness of abatement allocation are optimized.

关键词： Pollutant emission reduction allocation Emission reduction measures Total abatement cost Economic efficiency Abatement space

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The Integration Model of Closed-Loop Supply Chain Resource Allocation Considering Remanufacturing

Xiao-qiu Shi,Yan-yan Li,Wei Long

《工程管理前沿（英文）》 2016年第3卷第2期页码 132-135 doi: 10.15302/J-FEM-2016026

摘要： Logistics resource planning is an integration model of materials requirement planning and distribution resource planning which is a resource allocation technology. It is a technology of satisfying both production material supply and resource allocation optimization which is based on inventory management. For the remanufacturing supply chain, recycling and rebuilding of products form a reverse materials movement loop which challenges the traditional logistics resource planning system. For the characteristics of reverse logistics of remanufacturing supply chain, we propose a closed-loop supply chain resource allocation model based on autonomous multi-entity. We focus on integration resource allocation model of materials requirement planning and distribution resource planning considering remanufacturing.

关键词： remanufacturing supply chain reverse logistics resource allocation integration model

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Benefit-based cost allocation for residentially distributed photovoltaic systems in China: A cooperative

Xi LUO, Xiaojun LIU, Yanfeng LIU, Jiaping LIU, Yaxing WANG

《工程管理前沿（英文）》 2021年第8卷第2期页码 271-283 doi: 10.1007/s42524-019-0083-7

摘要： Distributed photovoltaic (PV) systems have constantly been the key to achieve a low-carbon economy in China. However, the development of Chinese distributed PV systems has failed to meet expectations because of their irrational profit and cost allocations. In this study, the methodology for calculating the levelized cost of energy (LCOE) for PV is thoroughly discussed to address this issue. A mixed-integer linear programming model is built to determine the optimal system operation strategy with a benefit analysis. An externality-corrected mathematical model based on Shapley value is established to allocate the cost of distributed PV systems in 15 Chinese cities between the government, utility grid and residents. Results show that (i) an inverse relationship exists between the LCOEs and solar radiation levels; (ii) the government and residents gain extra benefits from the utility grid through net metering policies, and the utility grid should be the highly subsidized participant; (iii) the percentage of cost assigned to the utility grid and government should increase with the expansion of battery bank to weaken the impact of demand response on increasing theoretical subsidies; and (iv) apart from the LCOE, the local residential electricity prices remarkably impact the subsidy calculation results.

关键词： solar photovoltaic cost allocation cooperative game theory Shapley value mixed-integer linear programming levelized cost of energy

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A holistic approach for evaluating ecological water allocation in the Yellow River Basin of China

YANG Zhifeng, CUI Baoshan, CHEN He

《环境科学与工程前沿（英文）》 2007年第1卷第1期页码 99-106 doi: 10.1007/s11783-007-0019-z

摘要： The characteristics and sustainable management of water resources on a basin scale require that they should be managed using a holistic approach. In this study, a holistic methodology called the holistic approach in a basin scale (HABS) is proposed to determine the ecological water requirements of a whole basin. There are three principles in HABS. First, ecological water requirements in a basin scale indicate not only the coupling of hydrological and ecological systems, but also the exchange of matter and energy between each ecological type through all kinds of physical geography processes. Second, ecological water requirements can be divided into different types according to their functions, and water requirements of different types are compatible. Third, ecological water requirements are related to a multiple system including water quality, water quantity, and time and space, which interact with each other. The holistic approach in a basin scale was then used in the Yellow River Basin and it suggested that 265.0 × 10 m of water, 45% of the total surface water resources, should be allocated to ecological systems, such as rivers, lakes, wetlands and cities, to sustain its function and health. The ecological water requirements of inside river systems and outside river systems were respectively 261.0 × 10 and 3.65 × 10 m.

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A modular design kit for task-adaptable low-cost robots based on BaPaMan design

G. BORCHERT, C. L?CHTE, G. CARBONE, A. RAATZ

《机械工程前沿（英文）》 2013年第8卷第1期页码 33-41 doi: 10.1007/s11465-013-0356-5

摘要：

This paper discusses the redesign of a binary parallel manipulator named BaPaMan (Binary Actuated Parallel Manipulator). The aim of this work is the improvement of the structures stiffness of BaPaMan. Additionally this paper shows the implementation of a construction kit which allows task-adaptation of low-cost robots based on the BaPaMan structure. BaPaMan is a three degree of freedom (DOF) spatial parallel robot which comprises flexure hinges and Shape Memory Alloy (SMA) actuators to achieve a low-cost design, well suited for easy operation applications. Measurements have shown that this comes at the cost of poor structural stiffness and end effector accuracy. To counter these issues BaPaMan2 and BaPaMan3 have been developed and are elaborated within this work. During the design phase, an empirical FEA is used to improve the flexure hinge performance, which analyses relations between several design parameters and the stiffness of the entire system. Finally, task-adaptation is achieved by using a design methodology and a parametric CAD model for BaPaMan. Besides the paper introduces first applications of the BaPaMan structure and shows future work.

关键词： binary actuation flexure hinges SMA actuators low-cost design kit task-adaptation

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Sagittal SLIP-anchored task space control for a monopode robot traversing irregular terrain

Haitao YU, Haibo GAO, Liang DING, Zongquan DENG

《机械工程前沿（英文）》 2020年第15卷第2期页码 193-208 doi: 10.1007/s11465-019-0569-3

摘要： As a well-explored template that captures the essential dynamical behaviors of legged locomotion on sagittal plane, the spring-loaded inverted pendulum (SLIP) model has been extensively employed in both biomechanical study and robotics research. Aiming at fully leveraging the merits of the SLIP model to generate the adaptive trajectories of the center of mass (CoM) with maneuverability, this study presents a novel two-layered sagittal SLIP-anchored (SSA) task space control for a monopode robot to deal with terrain irregularity. This work begins with an analytical investigation of sagittal SLIP dynamics by deriving an approximate solution with satisfactory apex prediction accuracy, and a two-layered SSA task space controller is subsequently developed for the monopode robot. The higher layer employs an analytical approximate representation of the sagittal SLIP model to form a deadbeat controller, which generates an adaptive reference trajectory for the CoM. The lower layer enforces the monopode robot to reproduce a generated CoM movement by using a task space controller to transfer the reference CoM commands into joint torques of the multi-degree of freedom monopode robot. Consequently, an adaptive hopping behavior is exhibited by the robot when traversing irregular terrain. Simulation results have demonstrated the effectiveness of the proposed method.

关键词： legged robots spring-loaded inverted pendulum task space control apex return map deadbeat control irregular terrain negotiation

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土石方动态调配模型与可视化研究

胡程顺,钟登华,张静,洪文,李明超

《中国工程科学》 2003年第5卷第12期页码 73-79

摘要：

土石方调配是土石坝或堆石坝施工中的一个核心问题，其合理与否对降低工程造价和保证工程的顺利进行具有重要的经济、技术价值。根据其受时间-空间影响与约束的特点，文章在总结现有研究成果的基础上，采用系统分析的手段，提出了一种将动态问题静态化的方法，并利用线性规划大M单纯形法对问题进行求解。在数学模型上，深入而细致地考虑了实际施工中的一些人为约束因素，增强了模型的通用性与灵活性；借助于GIS技术的强大空间信息处理功能，将土石方调配成果以三维动画的形式显示出来，以达到形象直观的目的；在程序实现上，采用强大的程序设计语言工具VC++开发出了界面友好、操作简单、适用性强的软件。最后，以其在某大型土石坝工程土石方调配项目中的成功应用，验证了此项研究工作的合理性与优越性。

关键词：土石坝施工土石方调配动态调配线性规划可视化