关键词：机器人；环境；交互；设计

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Robot teleoperation via haptic interface has been increasingly studied in recent years. In fact, the capacity to remotely feel the forces being exerted on a robot end-effector is a major advantage for many modern robot applications. This study aims to explore the capabilities of a low-cost haptic device, a force/torque sensor and a commercially available industrial robot, both together for haptic-based robot teleoperation purposes. A ballistic approach is implemented to make the mapping between the motion produced on the haptic device by the operator and the resulting robot motion. Inspired by some studies in the field of robot haptics, the robot and haptic device are connected by a virtual spring, which allows the operator to feel the sensation of pull and push the robot at the same time that teleoperates it. Results related to the process of robot teleoperation and contact with different objects are analyzed and discussed.

关键词：触觉界面；机器人；虚拟

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For surveying operations with a low-cost robot limited to a down-looking camera and a sonar altimeter, it is common practice to ensure that there is enough overlap between time-consecutive images as this is the only source of navigation data. When the robot revisits a previously surveyed area, it is essential to detect and match the non time-consecutive images to close a loop and, thus improve the trajectory estimate. While creating the mosaic, most of the existing algorithms try to match all image pairs to detect the non time-consecutive overlapping images when there is no additional navigation information.

关键词：机器人；重叠图像；模拟信息

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In automotive industry, industrial robots are widely used in production lines for many tasks such as welding, painting or assembly. Their use requires, from users, both a good manipulation and robot control. Recently, new tools have been developed to realize fast and accurate trajectories in many production sectors by using the real prototype of vehicle or a generalized design within a virtual simulation platform. However, many issues could be considered in these cases: the" delay between the design of the vehicle and its production is often important, moreover, the virtual modeling presents a non realistic aspect of the real robot and vehicle, so this factor could introduce localization inacurracies in performing trajectories. Our work is registered as a part of TRI project (Teleteaching Industrial Robots) which aims to realize a demonstrator showing the interaction of industrial robots with virtual components and allowing to train users to perform successfully their tasks on a virtual representation of a production entity. In this project we make use of Augmented Reality (AR) techniques to overlay virtual objects onto the real world in order to enhance the user's perception and interaction while performing a specific industrial task. The idea is to allow the real robot to teach trajectories of an automotive task thanks to vehicle virtual model. The pose accuracy is prerequisite of our application since it allows a reliable teaching of the real trajectory. Therefore, we survey some vision-based pose computation algorithms and present a method that offers increased robustness and accuracy in the context of real-time AR tracking. Our aim is to determine the performance of these pose estimation methods in term of errors and distance evaluation. The evaluation of the pose estimation methods was obtained using a series of tests and an experimental protocol. The analysis of results shows the performance of algorithms in term of accuracy, stability and convergence.

关键词：增强现实;姿态估计;工业机器人;计算机视觉;实时跟踪

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This paper presents the development of a behavior-based AGV using fuzzy logic. A robot platform and a fuzzy logic controller (FLC) are developed for the embodiment of different behaviors.

关键词：模糊逻辑；机器人；AGV

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本刊以七大战略性新兴产业——高端装备制造、节能环保、新能源、新材料、新能源汽车、生物、新一代信息技术为研究重点，关注国家高层和各部委的动态，剖析国家和地方的新兴产业政策。本刊设有政策导读、领导讲话、七大战略性新兴产业本周国内外行业动态和重点企业新闻、投资专题四大板块，能够实时监测新兴产业和重点企业动态，把握新兴产业发展方向，研究发展重点，寻求发展机遇。

关键词：节能环保；新一代信息技术；生物；高端装备制造；新能源；新材料；新能源汽车

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Traditional approaches to networking and security operate with static metrics and a black-and-white approach to decision-making. With the advent of network-centric environments and the emerging consideration of the impact of social networks on communications networks, we are forced to better understand how these additional factors can be used to improve networking services without assuming an unacceptable amount of risk. In this paper, we consider the implementation of trust metrics into various network protocols and security services. Our trust metric considers the impact of parameters of communication, information, and social networks. Using these parameters, we have developed composite trust metrics and applied them to the decision-making process within these protocols to replace the traditional approaches. The goal is to allow these trust-based protocols to operate in the gray area to improve performance and the range of operating conditions. We have studied tradeoffs between performance and security and trust and risk to identify optimal operating conditions of networks to maximize performance in several networking applications

关键词：指挥和控制系统；通信网络；通信协议；计算机网络安全

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System engineering practices for complex systems and networks now require that requirement, architecture, and concept of operations product development teams, simultaneously harmonize their activities to provide timely, useful and cost-effective products. When dealing with complex systems of systems, traditional systems engineering methodology quickly falls short of achieving project objectives. 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. To date, Program System Engineering (PSE) team has been able to model each network from their top-level operational activities and system functions down to the atomic level through relational modeling decomposition. These models allow for a better understanding of the relationships between NASA's stakeholders, internal organizations, and impacts to all related entities due to integration and sustainment of existing systems. Understanding the existing systems is essential to accurate and detailed study of integration options being considered. 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：航天通信，通信网络;系统工程;数据集成;系统集成;体系结构

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关键词：分布式数据处理；计算机通讯；信息处理

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关键词：计算机通讯;计算机安全；计算机软件；网络安全；网络空间

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