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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    

Nonlinear design-point performance adaptation approaches and their comparisons for gas turbine applications

Y. G. LI, P. PILIDIS,

《能源前沿(英文)》 2009年 第3卷 第4期   页码 446-455 doi: 10.1007/s11708-009-0042-9

摘要: Accurate performance simulation and understanding of gas turbine engines is very useful for gas turbine manufacturers and users alike and such a simulation normally starts from its design point. When some of the engine component parameters for an existing engine are not available, they must be estimated in order that the performance analysis can be started. Therefore, the simulated design point performance of an engine may be slightly different from its actual performance. In this paper, two nonlinear gas turbine design-point performance adaptation approaches have been presented to best estimate the unknown component parameters and match available design point engine performance, one using a nonlinear matrix inverse adaptation method and the other using a Genetic Algorithm-based adaptation approach. The advantages and disadvantages of the two adaptation methods have been compared with each other. In the approaches, the component parameters may be compressor pressure ratios and efficiencies, turbine entry temperature, turbine efficiencies, engine mass flow rate, cooling flows, and by-pass ratio, etc. The engine performance parameters may be thrust and SFC for aero engines, shaft power, and thermal efficiency for industrial engines, gas path pressures, temperatures, etc. To select the most appropriate to-be-adapted component parameters, a sensitivity bar chart is used to analyze the sensitivity of all potential component parameters against the engine performance parameters. The two adaptation approaches have been applied to a model gas turbine engine. The application shows that the sensitivity bar chart is very useful in the selection of the to-be-adapted component parameters, and both adaptation approaches are able to produce good quality engine models at design point. The comparison of the two adaptation methods shows that the nonlinear matrix inverse method is faster and more accurate, while the genetic algorithm-based adaptation method is more robust but slower. Theoretically, both adaptation methods can be extended to other gas turbine engine performance modelling applications.

关键词: gas turbine     engine     performance adaptation     performance matching     design-point performance simulation     influence coefficient matrix     genetic algorithm    

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    

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    

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    

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    

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    

双向协同的去中心化多源域自适应 Research Article

魏义康1,2,韩亚洪1,2

《信息与电子工程前沿(英文)》 2022年 第23卷 第12期   页码 1780-1794 doi: 10.1631/FITEE.2200284

摘要: 去中心化多源域自适应是指在数据去中心化场景下执行无监督多源域自适应。数据去中心化的挑战是源域与目标域在训练中缺乏跨域协同。对于无标签的目标域,目标域模型需要在源域模型的协助下迁移监督知识,而域差距会导致源域模型的适应性能有限。对于有标签的源域,源域模型在数据去中心化场景下倾向于过拟合本地数据,从而导致负迁移问题。对于以上挑战,提出双向协同的去中心化多源域自适应方法,通过其它域模型的协助进行局部源域模型与局部目标域模型的协同训练与聚合。对于目标域,我们在源域模型的协助下蒸馏监督知识,同时完全利用无标签目标域的数据来缓解域偏移问题。对于源域,我们在目标域模型的协助下正则化源域模型来避免负迁移问题。以上过程在去中心化的源域和目标域之间形成一种双向协同,以便在数据去中心化场景下提升域自适应性能。在标准多源域自适应数据集上的实验表明,我们的方法以较大优势优于现有的多源域自适应方法。

关键词: 多源域自适应;数据去中心化;域偏移;负迁移    

Comments on “Adaptation of Chinese and German maize-based food-feed-energy systems to limited phosphate

null

《农业科学与工程前沿(英文)》 2019年 第6卷 第4期   页码 443-444 doi: 10.15302/J-FASE-2019288

无监督域自适应的动态参数化学习 Research Article

蒋润华1,2,韩亚洪1,2

《信息与电子工程前沿(英文)》 2023年 第24卷 第11期   页码 1616-1632 doi: 10.1631/FITEE.2200631

摘要: 无监督领域自适应通过学习域不变表示实现神经网络从有标签数据组成的源域到无标签数据组成的目标域迁移。近期研究通过直接匹配这两个域的边缘分布实现这一目标。然而,已有研究大多数忽略域对齐和语义判别学习之间的动态平衡,因此容易受负迁移和异常样本影响。为解决这些问题,引入动态参数化学习框架。首先,通过探索领域级语义知识,提出动态对齐参数自适应地调整域对齐和语义判别学习的优化过程。此外,为获得判别能力强和域不变的表示,提出在源域和目标域上对齐优化过程。本文通过综合实验证明了所提出方法的有效性,并在3个视觉任务的7个数据集上进行广泛比较,证明可行性。

关键词: 无监督领域自适应;优化步骤;跨域判别表示;语义判别    

面向任务信息的层次化存储DPM策略

黄少珉,戚隆宁,杨军,胡晨

《中国工程科学》 2010年 第12卷 第2期   页码 83-89

摘要: 在此基础上提出基于任务信息(task information based,TIB)的层次化存储DPM策略。

关键词: 数据缓冲区     任务信息     DPM     预读策略    

移动众包环境下基于友谊度的任务规划 Article

Yuan LIANG,Wei-feng LV,Wen-jun WU,Ke XU

《信息与电子工程前沿(英文)》 2017年 第18卷 第1期   页码 107-121 doi: 10.1631/FITEE.1601860

摘要: 最近,众包平台已吸引了大量的注册用户在线下执行特定的任务。然而,大部分现有方法仅考虑了工人和任务信息都已提前获知的情况(静态离线情景),而较少考虑到工人动态抵达的情况(动态在线情景)。因此,当工人动态抵达时,如何给工人安排适合的任务以获得其最大的满意度成为了一个具有挑战性的问题。为解决这一问题,本文提出了一种有用并且普遍的人工-任务模型,该模型不仅考虑在静态离线时给工人安排任务的情况,还同时考虑了在工人动态抵达时如何给工人安排合适的任务。在本文中,为解决静态离线情景下的任务分配问题,我们首先提出一个有效的贪心算法。由于贪心算法极易陷入局部最优,我们又加入了模拟退火法来提高贪心算法的性能。另外,为解决动态在线情景下的分配问题,我们提出了一种贪心算法。最后,在真实数据集和具有不同分布人造数据集上进行了大量实验,实验结果验证了算法的效果与性能。

关键词: 移动众包;任务规划;贪心算法;模拟退火    

集成产品开发规划的任务调度

鲁建厦,陈呈频,兰秀菊,陈勇,谢列卫

《中国工程科学》 2004年 第6卷 第5期   页码 56-60

摘要:

在阐述集成产品开发(IPD)任务特点的基础上,研究了集成产品开发任务的耦合性和层次性,建立了分层分布式规划的策略,并引入代价矩阵概念,给出了任务调度模型和相应的匈牙利算法,并用实例演示了计算过程。

关键词: 集成产品开发     任务调度     过程规划     目标决策    

基于渐进式蚁群优化的多处理器任务分配 Article

Hamid Reza BOVEIRI

《信息与电子工程前沿(英文)》 2017年 第18卷 第4期   页码 498-510 doi: 10.1631/FITEE.1500394

摘要: 任务调度优化是多处理器环境(如并行和分布式系统)取得良好性能所面临的最重要挑战之一。目前大多数任务调度算法基于列表调度法,该方法的基本思路是,以列表的形式准备一系列待调度的节点,赋予这些节点不同优先级,然后不断去除列表中优先级最高的节点,并将其分配给具有最早开始时间(Earliest start time, EST)的处理器。由此可见,该算法的完成时间主要由两大因素决定:(1)任务分配顺序的选择(次序子问题);(2)选定顺序的任务如何分配给处理器(分配子问题)。已有文献提出了许多解决次序子问题的好办法,但分配子问题少有人涉及。本文研究结果显示:传统的按照最早开始时间分配任务的方法并非最优;基于蚁群优化算法,得到一种新的方法,可以获得高效得多的调度方案。

关键词: 蚁群优化;列表调度;多处理器任务图调度;并行与分布式系统    

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    

标题 作者 时间 类型 操作

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

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

期刊论文

Nonlinear design-point performance adaptation approaches and their comparisons for gas turbine applications

Y. G. LI, P. PILIDIS,

期刊论文

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

期刊论文

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

期刊论文

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

期刊论文

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

Shiyong YIN, Jinsong BAO, Jie LI, Jie ZHANG

期刊论文

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

Haitao YU, Haibo GAO, Liang DING, Zongquan DENG

期刊论文

双向协同的去中心化多源域自适应

魏义康1,2,韩亚洪1,2

期刊论文

Comments on “Adaptation of Chinese and German maize-based food-feed-energy systems to limited phosphate

null

期刊论文

无监督域自适应的动态参数化学习

蒋润华1,2,韩亚洪1,2

期刊论文

面向任务信息的层次化存储DPM策略

黄少珉,戚隆宁,杨军,胡晨

期刊论文

移动众包环境下基于友谊度的任务规划

Yuan LIANG,Wei-feng LV,Wen-jun WU,Ke XU

期刊论文

集成产品开发规划的任务调度

鲁建厦,陈呈频,兰秀菊,陈勇,谢列卫

期刊论文

基于渐进式蚁群优化的多处理器任务分配

Hamid Reza BOVEIRI

期刊论文

基于面向任务的协同特征向量的联盟形成算法

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

期刊论文