外文翻译--基于黑板模式整合多种领域达到战略上为机械手导航

1、 毕业设计(论文)外文资料翻译系部： 机械工程系 专 业： 机械工程及自动化 姓 名： 学 号： (用外文写)外文出处： ramiro liscano, allan maw, and elizabeth r. stuck, national research council reda e. fayek, university of waterloo jean-yves tigli, universite de nice 附 件： 1.外文资料翻译译文；2.外文原文。 指导教师评语： 签名： 2009 年 3 月 18 日注：请将该封面与附件装订成册。附件1：外文资料翻译译文基于黑板模式整合多种

2、领域达到战略上为机械手导航发展一个移动的机械手，在智能系统设计中给予我们一个调查机会，因为机械手的可动性使我们处理许多不可预知的形式环境。智能的一种字典定义是有能力处理新的尝试情形。因此，可靠的导航机械手在未知的环境中提供智能表现，主要注意一辆自治的车辆相当简单：给予一个操作系统，它一定有能力得到适当地的环境和行为。这能力需要一个回给控制系统，5个测知和控制联编车辆。不幸地是机械手有些特性仍然不满足被传统行为控制：遇到解决可动装置机械手的问题，通常需要一些方法学的整合。系统在一个适当的时期中对环境产生反应。由于感应器的限制和控制处理。大部份的知识机械手获得的是不完全的或不确定的问题去处理。我们

3、已经用可动装置机械手系统建筑学对同等的人物和一些即时的活动拟一个黑板模式。活动领域是一个组织的单位或组件运行一个特定的功能，如穿越一个走廊，下降阶段，一个开着的通风槽在底板上，或指一个陆标，一个活动，相似控制一个特定的操作中的行为。它被设计在一个狭窄的应用领域中运行，操作上不同于行为，然而行为通常相似一个回应。payton 定义期间，活动当做活化的设定。被设定的活动由一些行为的地方组成。payton 的活动是叙述一个行为的结合，达成一个更复杂的动作模型的方法。在差别中，我们没有尝试定义我们的活动为一个基本行为的结合。在我们的系统中，一些活动是必需的，让机械手操作运行简单，如此的移动相似移动一个

4、工厂区。这些基本的导航活动正在穿越一个开着的空间。横越底板上方偏差（缆或通风槽），而且避免碰撞。系统建筑学定义一个机械装置协调移动机械手活动，自从他们之后不能全部同时地驾驶机械手。大多数的可动装置机械手控制系统是结合混合系统的方法，从阶层的，动作的，和以黑板模式为基础的系统。以行为为基础的系统最近已经变得更普遍的应用在控制移动机械手。阶层的建筑，像是 nasrem（美国航空暨太空总署 nist 标准的功能建筑学控制系统建筑学）和 imas （智能的可动装置自治的系统）提议一个好的断落使一个全球的操作进入次操作，但是阶层的结构很快被分配测知的进入和阶层的指令结构结合而降低，类似那在 mobot

5、3 上实现使用大部分系统，感觉想作用难以在真正的时期实现，当机械手处理不同的测知状态的时候。已经示范的nasrem 风格使用建筑学为即时定义，狭窄部份操作的范围，而且不需要测知一个不同的移动机械手。试图把反身的能力加入一阶层的系统， payton 连同更传统的水平阶层的分解，一起计划了一个垂直的分解，造成被组成的阶层结构反身行为在最低的水平。那效果是有一个阶层的能力系统，管理不同的测知状态和一个比较强健的系统。 arkin也强调数据的非阶层广播的重要， arkin 的选择使世界的操纵被统一表现，基于潜在的田地设计一个系统。我们的系统不使用被表现统一协调活动，但是仰赖程序的知识，而且知觉的数据张

6、贴在黑板模式上作决定。类似怪人系统建筑学过去一直驾驶着林肯，我们的系统不以它的黑板模式作为问题，解决的机械装置除了主要地当做管理者和协调者和一些真正的计时活动。这些活动不断地邮寄他们现在的州对黑板模式的环境。那知觉和测知组成物活动被设计地协同运行。不是活动之间的所有组件沟通，如此可能减少带宽沟通而且让行为反动。喜欢一个传统的黑板模式系统，我们的系统使用一个中央的数据库储存数据，可借着一些组件，但是它的功能差异因为组件合作，不要费力的去解决一般问题。在我们的系统建筑学中，黑色板的尺组和知识决定哪一个活动控制移动机械手的引动器。策略是处理知觉的能力，储存了数据。而且长期的目标以便机械手能作出全球环

7、境的决定视野，那决定哪一个有关活动将会控制以车辆为基础知觉和活动的形成，因此是一个策略推论的形状。可动装置机械手系统建筑适当系统的疑问，给一辆自治的车辆控制是持续的研究问题，而且只有在多数的系统设计测试之后被解决。这研究是它幼年的剧照，因此没有通常的协议，在哪一个系统建筑学是最适当的。因为控制一个移动的机械手，几乎所有现有的系统不断地接受，作为移动的机械手的变化，是以较多的能适合。虽然多数研究学会和一些公司是追求这研究，他们的目标不是所有都一样的。重要区别是在研究进入以移动机械手作为工具才深入的研究设计自治的可动装置机械手。一个系统想要运行一个功能为一个工具，是发信号当做一个传统的控制系统，包

8、含一个计划组件如自治的可动装置机械手，另一方面，应该在不同环境采用不同的策略和机械装置解决问题。因此，我们的行为与设计系统建筑学有能力整合一些可靠的功能操作。虽然研究移动机械手工程还没有达到成熟，但我们能列出一组可动装置机械手控制的系统属性，我们已经把这些属性分为二个组：属性描述需要移动机械手的行为和控制一个成功设计建筑学。这些其中的一些已经被列出由先前而且已经被其他系统建筑学当做辩护，但是没有正式的方法已经被采用在机械手工程社区。行为是一个可动装置机械手对一种刺激的回应。我们已经证明六种重要行为属性对一个移动的机械手。l 反应度：因为真实的环境是无社会组织的，移动机械手能做关于它的少数假定动

9、力学。它对一方面的突然改变产生一定的反应指在一定的环境时间之内。反动行为通常明确定义作用在回应规划测知的领域，这给那机械手持续运动在非常有限制的范围之内。在我们的系统中所有的活动中是反动行为的例子。2 智能：意指那能应付新的尝试情形。一个机械手的能处理不同的情形，而且操纵那达成一个目标。虽然真实的智能仍然没被了解，所有的可动装置机械手计划努力达到一些智能的行为。3 集中的全球推论：全球，高阶层的决策组件是让机械手了解它的全部情形，这是特别重要的。当许多独立的活动关系，正在尝试控制系统，希望与全球的视野能担任在活动之中的一个仲裁人4 改良系统的运转。系统的区别特征是全球的推论是否来自集中表现或合

10、作在分配之中组件。当使用一个全球的推论，考虑一个移动机械手穿越一个狭窄的走廊和发现一个物体已经阻塞它的方法。大多数的反动航行运导航则会让机械手停止，折回，或从边踱步偏袒等候一次又一次的。借由全球理解情形，机械手会试着找另外的一条路径或推物体出来。所有的替代选择需要知道其他的来源，整合进入之内统一表现。5 复式目标分解：对于移动肤蝇的幼虫，情形需要改变，现在的作用是不可避免的，系统应该提供多个方法实现目的。一个例子，可能发生冲突的物体而避免冲突其那物体。6 健：一个系统的强健是它有处理前任事件的缺点能力，不确定和突然故障。这在一个真实的操作环境中是一个决定性的个性系统。可靠性：一个系统的可靠性是

11、根据它的能力确定一定的操作或运转降格在特定时间内。航行系导航该维持在一个持续的水平，胜任而且同样地运行在一些不同的环境。为例，我们会期待那碰撞避免运算法则会操作在一些可靠地环境中和任何的运转降格，可能使系统戏剧性的改正，大部份的情形下，误解感应器数据引起运转降格，我们能改正较多的感应器或改良那处理感应器的运算法则。设计规例：属性是关于可动装置机械手系统建筑学对折的一叠纸。除了第五个属性以外在那目录之后，他们需要传统软件工程学，不像大多数的传统软件工程学计划，从一开始指定需求组。我们又证明了下列的设计属性：模组化：在对折的一叠纸大多数的复杂系统，那自治车辆的控制建筑学应该被区分为较小的能实现的设

12、计系统，而且分开地去除。模组化也是逐渐增加的设计，维护、损坏发现和修正。可挠性：实验的机械手工程，在一般以感应器为基础的个别项目中控制，需要连续的落实在设计期间，变更逐步运行。易曲的控制结构是设计指导成功或设计机械的重要要素。模组的设计向可挠性的第一个阶段是在柔软中留心设计。伸延性：因为它是计时设计建立，而且是测试控制系统的守寡组成物，可扩张建筑学是令人想要的。可扩张建筑学在多数的熟练机械手中，需要应付不同的情形。适合性：每个活动一个策略被控制统治。以后的世界是不可预知的快速发展，控制系统肯定在控制之间快速地适应现在的情形。附件2：外文原文（复印件）using a blackboad toln

13、tegrate multiple activitiesand achieve strategicreasoning for mobile-robotnavigationd eveloping a mobile robot gives us the opportunity to investigate issues in the design of intelligent systems because the robots mobility forces us to deal with many unpredictable environmental situations. one dicti

14、onary definition of intelligence is the ability to deal with new or trying situations .thus, a mohole robot that reliably navigates in unknown environments gives the appearance of intelligent behavior. the main idea of an autonomous vehicle is quite simple: given a task to perform, it must have the

15、ability to practice the environment and act appropriately .this ability requires a feedback control system to link the vehicle.5 sensing and coition.unfortunately. autonomolis robots have characteristics not yet satisfactorily addressed by the classical control community:solving the problems encount

16、ered by the mobile robot generally requires the integration of several methodologies.the robots decision space is discrete and composed of distinct elements as opposed to continuous functions.the system must react to the environment in an appropriate time period.due to the limitations of the sensors

17、 and censor processing. most of the knowledge the robot acquires is either incomplete or uncertain.to address these problems. we have designed a mobile-robot system architecture that uses a blackboard to coordinate and integrate several real-time activities. an activityis an organizational unit. or

18、module. designed to perform a specific function, such as traversing a hallway. going down steps. crossing over an open channel on the floor, or tracking a landmark. an activity resembles a behavior in that it controls the robot to perform a specific task. it differs from a behavior in that it is des

19、igned to perform the specific task in a narrow application domain, whereas a behavior generally resembles a biological response-that is. an organisms response to a stimulus.payton defined the term activity as an instance of an activation set. where an activation set is composed of a number of behavi

20、ors. paytons activities are a way to specify a combination of behaviors to achieve a more complex behavioral pattern. in contrast, we make no attempt to define our activities as a combination of basic behaviors. in our system, several activities are necessary for the robot to perform simple tasks su

21、ch as moving around a factory bay. some of these basic navigation activities are traversing open space. crossing over floor anomalies (cables or channels), and avoiding collisions.the system architecture must define a mechanism to coordinate the mobile robots activities since they cannot all drive t

22、he robot simultaneously. most mobile-robot control systems are hybrid systems combining approaches from hierarchical. behavial,and blackboard-based systems. behavior-based systems have recently become more prevalent for controlling mobile robots.hierarchical architectures, such as nasrem (nasa/nist

23、standard functional architecture for telerobot control system architecture)j, and imas (intelligent mobile autonomous system).” offer a nice paradigm breaking down a global task into sub tasks, but the hierarchical structure quickly degrades into a hierarchical command struc combined with distribute

24、d sensing sim to that implemented on mobot iii. most these systems use sense-think-act cycles that are difficult to implement in real time when the robot must deal with diverse sensing conditions. lumia” has demonstrated the use of nasrem-stvle architecture for real-time defined, narrow scope of ope

25、ration and does not require the sensing diversity that a mobile robot needs.in an attempt to add reflexive ability to a hierarchical system, paytoni proposed a vertical decomposition along with the more classical horizontal, hierarchical decomposition, resulting in a hierarchical structure composed

26、of reflexive behaviors at the lowest level. the effect is a hierarchical system capable of managing diverse sensing conditions-andthere for a more robust system. arkin also emphasized the importance of a nonhierarchical broadcast of information. arkin chose to design a system using agents that manip

27、ulate a unified representation of the world on potential fields. our system does not use a unified representation to coordinate activities but relies on procedural knowledge and sensory data posted on the blackboard to make a decision.similar to the codgers system architecture used to drive cmus nav

28、lab,” our system does not use its blackboard as a problem solving mechanism but primarily as the supervisor and coordinator of several realtime activities. these activities continually post their current state and the current state of the environment to the blackboard. the perception and sensing com

29、ponents of an activity are designed to run concurrently.not all communications between an activitys modules go through the blackboard. thus reducing communications bandwidth and making reactive behavior possible. like a traditional blackboard system, our system uses a central database to store infor

30、mation accessible by a number of modules, but it differs functionally because the modules do not work cooperatively to solve a common problem.in our system architecture, the blackrem boards rule set and knowledge determine which activity controls the mobile robots actuators. a production system faci

31、litates experimental determination of adequate conforditions for selecting the activity controlling the vehicle, and the blackboard database serves as a repository of state data and senturesory data from the activities. strategic reailarsoning is the ability to process sensory inofputs, stored infor

32、mation. and long-termgoals so that the robot can make decisions with a global view of the environment. the decision about which activity will control the vehicle is based on sensory and state in based formation from the activities and therefore is a form of strategic reasoning.behavior attributes. a

33、 behavior is a mobile robots response to a stimulus from the environment. we have identified six behavior attributes important to a mobile robot: reactivity: because the real-world environment is unstructured, the mobile robot can make few assumptions about its dynamics.it must react to sudden chang

34、es inthe environment within a specified timeframe. reactive behavior is generally a well-defined action in response to a narrow domain of sensing, which gives the robot a very limited scope of understanding.in our system all activities are examples of reactive behavior.l inteelligence: by intelligen

35、ce we mean the ability to cope with new or trying situations a robots ability to manage diverse situations and manipulate the environment to achieve a goal gives the appearance of intelligence. although true intelligence is yet to be understood, all mobile-robot projects strive to achieve some intel

36、ligent behavior.centralized global reasoning: a global,high-level decision-making module is crucial for the robot to understand itsover all situation. this is particularly important when many independent activities, each with a narrow understanding of the situation, are trying to control the system.

37、 areasoning agent with a global view can act as an arbiter among the activitiesto improve the systems performance. a distinguishing feature of the system is whether the global reasoning comes from a centralized, uniform representation or from cooperation among distributed modules. as an example of t

38、he use of global reasoning, consider a mobile robot traversing a narrow hallway and discovering that an object has blocked its way. most reactive navigation algorithms would have the robot stop, turn back, or pace from side to side waiting for an opening. with a global understanding of the situation, the robot could try to find another path or push the object out of the way. all the