信息技术学科水平测试模拟考试题库

沈阳建筑大学硕士学位论文基于人机交互的搜救机器人控制站系统研究姓名：王楠申请学位级别：硕士专业：模式识别与智能系统指导教师：吴成东2011-03IAbstractIIIAbstractInconformitywiththerequestforsearchandrescueapplication,thesearchandrescuerobotbecomeabranchofroboticsresearch.Thesearchandrescuerobotisthekindoftypicalsystem-“human-robot-environment”.Thecontrolstationasthekernelcontrollerofthesystemistheonlyplatformconnectshumanandrobottogether,whichdirectlyaffectstheadaptabilityoftherobot,decision-makingabilityoftheoperatorandtheefficiencyofexecutingrescuemission.Theresearchdiscussedinthispaperissupportedontheproject863-ResearchonaReliccarverescuerobot.Thepaperdoesdeepresearchonthecontrolstationsystemoftheshape-shiftingsearchandrescuerobotbasedontheinteractivetechnology.Theresearchfieldsincludetheshape-shiftingrobotplatform,thearchitectureandplanningmechanismofthecontrolstation,thereal-timesenseandjudgesystemandthedesignofthecontrolstation.Firstly,thecontrolstationisdevelopedfortheshape-shiftingsearchandrescuerobot.Thefunctionalcharacteristicsandtransformationtheoryofthemodularrobotareanalysis.Themodularshape-shiftingtrackedrobotwithstrongadaptabilityandhighflexibilityismainlyappliedinsearchandrescuefield,andsuchtechnicalassignmentfields.Thedistributedmodularcontrolsystemisdesignedforthemodularrobottocompletecooperativemotionandconfigurationtransformation.Thecontrolsystemcanbedividedintoseveralsinglemodularsubsystemsofdifferentfunctionscontrolledbyindependentcontroller;thedistributedcontrolmethodguaranteeseachsubsystemimplementmissionsindependentlyandsynchronously.Secondly,Inordertocarryoutrescuemissionssafelyandeffectivelyindesert,Thefunctionswhichthedesignedcontrolstationcanprovidemustbedependedonthecharacteristicsandtheapplicationsoftheshape-shiftingsearchandrescuerobot.Thedesignprincipleofcontrolstationsystemisbasedontheinteractivetechnology.Thearchitectureofthecontrolstationisakindofcombinedarchitecturebasedbothonfusionlayerandbehavior,withthefeaturesofleveldynamicandmodularizedcontrolability.Thecontrolstationsystemadoptsvisualsense,voice,senseoftouchmulti-channeljointworkmodemethod,anddynamicallyconstructsmovementsequenceandplanmechanismofsequentialrelationshipaccordingtocontrolmissions.Thirdly,researchisdoneaboutthereal-timesenseandjudgesystemofthecontrolstationbasedonvirtualrealitytechnology.Thearchitectureofthereal-timesenseandjudgesystemisconstructedforsatisfyingtheneedofrobotsimulationanddisasterrescuemission,whichcanbereconfiguredaccordingtodifferentapplicationdemands.Thekeytechnologyandimplementationmethodofsubsystemsuchasthree-dimensionalmapping,virtualsupervisoryandalgorithmsimulationarediscussedrespectively.Thevirtualsupervisoryenvironmentdemonstratedbythesystemcandynamicallymapthereal-timestateoftherobot.Simulationexperimentplatformisprovidedforrobotics.Lastofall,thehardwareandsoftwaresystemofthecontrolstationisdesignedandimplemented.Thekernelmastercontrolsystemisdesignedintheformofasymmetricplatform,whichtakestheanalytichierarchyprocesstomakedecisions.Allthefunctionalmodulesarecapsulatedinaportablecasetointegrateasawhole.TheframeworkofthesoftwarearchitectureAbstractisdevelopedinuseofUMLmethod.Designillustrationisgiventoexhibitthefunctionofmainmodulesincludinginitialization,emergency,planning,modeswitching,andstatefeedback,andsoon.Experimentsbeingdoneindoorandoutsideinsimulationdisastersuggestthatthecontrolstationcansatisfytheneedofsearchandrescuewiththeshape-shiftingrobotandprovethesystempossessesgoodadaptabilityandinteractiveability.Keywords:Human-RobotInteraction(HRI)VirtualRealityControlStationSystemShape-ShiftingRobotSearchandRescue11.1[1-5][6][7]“--”21.2FosterMiller[8]1.2.1LeadingEdgeDesign“HallucII”“Hull”3(a)(b)(c)(d)1-1“HallucII”Hull31-2RQ-1MQ-1“”“”[9]CKu1-3RQ-1MQ-1“”61-4iRobotPackBot91141-51-6(OperationControlUnit)1-5iRobotPackBot1-6PackBot(OCU)[10]1-7TalonEOD1-7TalonEOD[11-13]“911”PDA51.2.2[14]Modbus[15]Windows1-81-8[16]1.2.39117[17][18][19-22]61.3UML1.472.12.22.2.1[23]2-121345678910111213141.2.3.4.5.6.7.8.9.10.11.12.13.14.2-12-2381.2.3.4.5.6.7.8.9.10.2-2[24-26](1)(2)3(3)(4)(5)792-3dd2-392-1“T”“d”“L”DEFFEDDEFFEDFDE2-1DEF2.2.2[27]2-4(a)(b)180°(b)(c)180°(a)(b)(c)2-4[28]2-5cab4321cabcab(a)(b)(c)2-5(a,b,c)102-22180°180°2-21234000000002-32-3l/mm316w/mm150lc/mm233la/mm93lb/mm7.5m/kg5mp/kg1Tl/mN.m19T2/mm19T3/mm402.32.3.1112.3.2CAN2-6[29]CANCAN1a987111012cMMGPSCANCAN1~72-612(1)(2)(3)713346125723CAN812GPS[30-32]MAX232RS232TTL12CANac6CAN2.4133.1“--”3.23.2.1(1)(a)(b)(2)14(a)[33](b)(c)(d)(e)(3)(a)(b)3.2.2(Human-robotInteraction)[34]HRIHCI(Human-computerinteraction)HCI[35](I/O)15[36]3-1[37-38]“”[39](Multi-MedalUserInterface)[40]3.2.316(1)(2)(3)(4)(5)[41]3.33.3.1[42]173.3.2[43](1)(2)(1)(2)(3)[44-45]3.3.33-2(1)(SupervisionandCoordinationLevel)(ControlandPlanningLevel)(ExecutiveandFeedbackLevel)18/SupervisororOperationMissionPlanningTaskExecutiveSupervisionandCoordinationLevelExecutiveandFeedbackLevelControlandPlanningLevel3-2(a)(ExecutiveandFeedbackLevel)(b)(ControlandPlanningLevel)19(c)(SupervisionandCoordinationLevel)/(2)--(3)3-3[46]“--”3-3203(a)(b)(c)(a)(b)(c)(d)(4)