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Robo Cloud: augmenting robotic visions for open environment modeling using Internet knowledge

Science China(Information Sciences) 2018年第5期61卷 19-34页

作者： Yiying LI Huaimin WANG Bo DING Wei ZHOU College of Computer National University of Defense Technology

modeling an open environment that contains unpredictable objects is a challenging problem in the field of robotics. In traditional approaches, when a robot encounters an unknown object, a mistake will inevitably be added to the robot’s environmental model, severely constraining the robot’s autonomy,and possibly leading to disastrous consequences in certain settings. The abundant knowledge accumulated on the Internet has the potential to remedy the uncertainties that result from encountering with unknown objects. However, robotic applications generally pay considerable attention to quality of service(Qo S).For this reason, directly accessing the Internet, which can be unpredictable, is generally not acceptable.Robo Cloud is proposed as a novel approach to environment modeling that takes advantage of the Internet without sacrificing the critical properties of Qo S. Robo Cloud is a "mission cloud–public cloud" layered cloud organization model in which the mission cloud provides Qo S-available environment modeling capability with built-in prior knowledge while the public cloud is the existing services provided by the Internet. The "cloud phase transition" mechanism seeks help from the public cloud only when a request is outside the knowledge of the mission cloud and the Qo S cost is acceptable. We have adopted semantic mapping, a typical robotic environment modeling task, to illustrate and substantiate our approach and key mechanism. Experiments using open 2 D and 3 D datasets with real robots have demonstrated that Robo Cloud is able to augment robotic visions for open environment modeling.

关键词： Internet-augmented environment modeling uncertainty robotic visions semantic mapping robotic software cloud robotics

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Space environment modeling and Deorbiting Efficiency Analysis for Electro-dynamic Tether System

Space Environment Modeling and Deorbiting Efficiency Analysi...

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第32届中国控制与决策会议

作者： XIAO Hewen HUANG Jing LIU Gang LV Yueyong Harbin Institute of Technology Shanghai Key Laboratory of Aerospace Intelligent Control Technology Shanghai Aerospace Control Technology Institute

ISBN: (纸本)9781728158549

The electro-dynamic tether system,which could generate electro-dynamic force during on-orbit period,is a novel and efficient spacecraft deorbiting system.In this paper,the space environment modeling and off-orbit efficiency analysis of the bare electro-dynamic tether based deorbiting system is investigated.Firstly,the geomagnetic field model and ionospheric model are established,based on which the electric force generated by bare rope is calculated.Furthermore,the models of atmospheric resistance,earth non-spherical perturbation and other environmental perturbation are also established.Then,numerical simulation for the deorbiting process of the electro-dynamic tether system is carried out under different orbital heights,orbital inclines and lengths respectively.Finally,the effectiveness of relative factors to the system is analyzed based on the simulation results.

关键词： Electrodynamic Tether environment modeling Deorbit Efficiency Analysis Orbit Altitude Orbit Inclination

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Research on key technologies of Virtual visual environment modeling

Research on key technologies of Virtual visual environment m...

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2011 IEEE 12th International Conference on Computer-Aided Industrial Design & Conceptual Design

作者： LI Xunxiang College of Fine Arts and Design Wenzhou University Wenzhou 325035 China

＜正＞environment modeling is an important constituent of visual system in virtual reality.This paper provides some resolvents,such as the correction of distortion based on The environment mapping,simulation of fog and cloud effects by the theoretical analysis and research of environment modeling. And especially,focuses on entity geometric modeling,virtual spatial coordinate modeling and texture fused technique. Finally,presents some related technique applications.

关键词： Virtual visual environment modeling Texture Blending

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Statistical analysis and modeling of residential buildings for artificial Beijing reconstruction

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International Journal of modeling, Simulation, and Scientific Computing 2016年第2期7卷 63-74页

作者： Zhi-Chao Song Rong-Qing Meng Hong Duan Xiao-Gang Qiu College of Information System and Management National University of Defense Technology Changsha Hunan 410073P.R.China

environment model is an important component of an artificial society.To level up the resolution of residence-building environment models in artificial Beijing,we divide residential buildings in Beijing into two categories,which are noncommunity residential buildings and community residential buildings,and statistically analyze the numbers of floors and areas of the real residential buildings.In this paper,we have exhibited the distribution of numbers of floors in noncommunity residential buildings and community residential buildings.Furthermore,we analyze the distribution of areas of noncommunity residential buildings and residence-use proportions of community zones by Nonlinear Regression.Results indicate that areas of noncommunity residential buildings in Beijing obey the log-normal distribution and residence-use proportions of community zones obey normal distribution.According to the statistical models,the virtual residential buildings in artificial Beijing can be endowed with rational attribute values.

关键词： Data-driven modeling artificial society environment modeling residential buildings

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Improved Astar algorithm for path planning of marine robot

Improved Astar algorithm for path planning of marine robot

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第37届中国控制会议

作者： Zhao Wang Xianbo Xiang School of Naval Architecture and Ocean Engineering Huazhong University of Science and Technology Shenzhen Huazhong University of Science and Technology Research Institute

Marine robot plays an important role in the marine research due to its good application prospects.Path planning provides the necessary information for marine robot to accomplish missions,and classic methods for path planning can be roughly divided into pre-planning and realtime planning,in wich Astar is an algorithm widely applied in path pre-planning of mobile robot.Classic Astar only generates a series of way-points for robots in formation of Descartes coordinate point which is based on a two-value grid map.The result has approximately optimal distance,however,the path does not conform with the motion constraint of robot.This paper proposes an improved algorithm in consideration of the orientation constraint of marine robot for Astar algorithm,and introduces related work about environment modeling.Path generated via this proposed method is more appropriate than classic Astar’s in practical application.

关键词： Marine robot path planning Astar algorithm environment modeling

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