Over the last few years, the interest in studying the Artificial Immune System (AIS) is increasing because of its properties such as uniqueness, recognition of foreigners, anomaly detection, distributed detection, noise tolerance, reinforcement learning and memory. Previous research work has proved that AIS model can apply to behavior-based robotics, but implementation of idiotypic selection in these fields are very few.The present research aims to implement a simple system architecture for a mobile robot navigation problem working with artificial immune system based on the idiotypic effects among the antibodies and the antigens. In this architecture environmental conditions are modeled as antigens and the set of action strategies by the mobile robot are treated as antibodies. These antibodies are selected on the basis of providing the robot with the ability to move in a number of different directions by avoiding obstacles in its environment. Simulation results showed that the robot is capable to reach goal effectively by avoiding obstacles and escape traps in its maze environment.

关键词：光机电；机器人；人工免疫系统；免疫网络；机器人导航

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A mascot robot system based on fuzzy inference is developed for casual information recommendation in a home environment. The system is an Internet-based intelligent robotic environment that assists human by information retrieval and presenting recommendation with casual communication. It consists of five eye robots that present friendly mentality expression, speech recognition modules, an information recommendation engine that recommends information to human by taking into account the current situation, and a server that supervises the whole system. In addition, a fuzzy logic based multi-modal gesture recognition system is added based on, where both web camera images and hand motion data (given by a 3D acceleration sensor put on human wrists) are used to notify the emotion of humans to robots in real time. These components are networked and integrated hierarchically based on RT (Robot Technology) middleware. The subjective estimation using psychological scale has been conducted for 11 subjects. Since the results of the subjective estimation shows 3.08 and 2.62, the validity of the fuzzy interpersonal motions expression has been confirmed. The proposed mascot robot system provides informative support to human through casual communication in a home environment.

关键词：光机电；机器人；模糊控制技术；系统

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Unmanned ground and air vehicles (UGVs and UAVs) embody a critical capability of future U.S. Army systems and will be used for force projection and as force multipliers. They are expected to operate in a semiautonomous fashion, in which an operator will lay out a mission plan for the vehicle to execute with little or no operator interaction; the operator s function will be to monitor the progress of the unmanned systems. If the situational demands exceed the capabilities of the vehicle, the operator will need to intervene to complete the mission by either changing the mission plan or by assuming direct control of the vehicle by teleoperation until the vehicle can resume semiautonomous operation.

关键词：光机电；机器人；控制系统；任务；运营商

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In this paper, parasitic feedback, uneven illumination and the implications of receiver array geometries are considered and experimental hardware results for HILPB are presented. The TEM00 Gaussian energy profile of the laser beam presents a challenge to the effectiveness of the receiver to perform efficient photoelectric conversion, due to the resulting non-uniform illumination of the photovoltaic cell arrays. In this investigation, the geometry of the receiver is considered as a technique to tailor the receiver design to accommodate the Gaussian beam profile, and in doing so it is demonstrated that such a methodology is successful in generating bulk receiver output power levels reaching 25 W from 7.2 sq cm of photovoltaic cells. These results are scalable, and may be realized by implementing receiver arraying and utilizing higher power source lasers to achieve a 1.0 sq m receiver capable of generating over 30 kW of electrical power.

关键词：通信；通信网络；激光接收器

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We summarize three problems. In the first problem, we study the impact of communication constraints on delay-critical problems of distributed computation. We consider networks of agents, each having access to some partial information, which aim at computing some application-specific function of the global information. Computation has to be ompletely distributed, i.e., agents can rely on the local observations only, while iteratively processing the available information, and communicating through digital noisy channels. As large delays can be detrimental for the overall system performance, it is critical to design distributed algorithms which perform such computation in the quickest possible way. We present tight lower bounds on the computation delay that capture the connectivity of the network as well as the channel characteristics.

关键词：通信网络；分布式；算法

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This paper implements position control of a biped robot via velocity control with automatically generated joint torque and velocity limits so as to have zero overshoot of the COM and sliding, tipping and twisting of the robots feet while allowing the COM to move in mimimum time to a refferential position. This method allows the position controller to be robust to external disturbances and is able to reject the maximum amount of external force without letting the feet tip over(not unnecesserily compliant like some methods). This method is also general in the sense that all 6 axes can have ground reaction force limits so sliding, twisiting and tipping of the feet can be prevented. Also this method does not require a refferential ZMP trajectory. Friction and coriollis forces are detected via a type of workspace disturbance observer. Knowledge of the magnitude of this disturbance allows the motor torques to be limited so that the total ground reaction force doesnt lead to unstable conditions at the feet. The proposed method with velocity limits is verified on the biped robot MARI-3 and it is shown that overshoot is eliminated while being compliant to external disturbances.

关键词：光机电；机器人；力控制；位置控制

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Congestion and hazardous traffic situations for the drivers on the road can occur around work zones and snowplow operation during the winter season due to low visibility. An information warning system for such environments can improve traffic mobility and thereby driver safety. Intelligent transportation systems (ITS) and other related technologies are being aggressively pursued to devise such automated traffic-information systems. Dedicated short-range communication (DSRC) has been considered as a key enabling wireless communication technology to realize such automated traffic warning systems. DSRC-based traffic-information systems use vehicle-to-vehicle (V2V) and/or vehicle-to-infrastructure (V2I) communication using DSRC technology to acquire and disseminate travel safety information. To take advantage of the disseminated information messages, a vehicle needs to be equipped with DSRC technology.

关键词：通信；无线通信；信息系统；混合动力；短距离通信；可变信息标志

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This approach is encumbered by the use of a number of disparate hardware and software tools, spreadsheets and documents to grasp the concept of the network design and operation. In case of NASA's space communication networks, since the networks are geographically distributed, and so are its subject matter experts, the team is challenged to create a common language and tools to produce its products. Using Model Based Systems Engineering methods and tools allows for a unified representation of the system in a model that enables a highly related level of detail. In this paper, we identify the challenges the PSE team faced in its quest to unify complex legacy space communications networks and their operational processes. We describe the initial approaches undertaken and the evolution toward model based system engineering applied to produce Space Communication and Navigation (SCaN) PSE products. We will demonstrate the practice of Model Based System Engineering applied to integrating space communication networks and the summary of its results and impact. We will highlight the insights gained by applying the Model Based System Engineering and provide recommendations for its applications and improvements.

关键词：通信；太空通信；通信网络；系统工程；系统集成；网络分析

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This integrated network architecture is expected to provide SCaN customers with the capabilities to seamlessly use any of the available SCaN assets to support their missions to efficiently meet the collective needs of Agency missions. One potential optimal application of these assets, based on this envisioned architecture, is that of arraying across existing networks to significantly enhance data rates and/or link availabilities. As such, this document provides an analysis of the transmit and receive performance of a proposed SCaN inter-network antenna array. From the study, it is determined that a fully integrated internetwork array does not provide any significant advantage over an intra-network array, one in which the assets of an individual network are arrayed for enhanced performance. Therefore, it is the recommendation of this study that NASA proceed with an arraying concept, with a fundamental focus on a network-centric arraying.

关键词：通信；宇宙通信；天线阵；深空网；可靠性分析

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Bluetooth data collection devices are an innovative technique for measuring travel times and speeds on roadway segments. This project developed a system capable of recording Bluetooth MAC addresses with a timestamp and determining the space mean speed of vehicles between multiple nodes. Battery powered and solar powered nodes are developed for the project. Various deployments of the nodes are utilized to determine the ideal placements and distances. The nodes are utilized in determining capacity of work zones by using travel speeds and times as surrogate measures of congestion. Nodes are also used to detect incidents based on increased Bluetooth device hit counts. Recommendations for node spacing are made for rural and urban areas.

关键词：通信；蓝牙；农村公路；数据收集；无线通信

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