Parallel machine:a framework for the control and management for intelligent machines

Tianxiang BAI; Zhen SHEN; Yating LIU; Xisong DONG

doi:10.11959/j.issn.2096-6652.201915

您当前的位置：

首页 >

文章列表页 >

Parallel machine:a framework for the control and management for intelligent machines

Regular Papers | 更新时间：2024-06-05

- Parallel machine:a framework for the control and management for intelligent machines
- Chinese Journal of Intelligent Science and Technology Vol. 1, Issue 2, Pages: 181-191(2019)
- 作者机构：
  
  1. 中国科学院自动化研究所，北京 100090
  2. 中国科学院大学，北京100089
- 作者简介：
- 基金信息：
- DOI：10.11959/j.issn.2096-6652.201915
  CLC： TP311.134.3
- Published Online：2019-06，
  
  Published：20 June 2019
- 稿件说明：
移动端阅览
Tianxiang BAI, Zhen SHEN, Yating LIU, et al. Parallel machine:a framework for the control and management for intelligent machines[J]. Chinese journal of intelligent science and technology, 2019, 1(2): 181-191.
DOI：

Tianxiang BAI, Zhen SHEN, Yating LIU, et al. Parallel machine:a framework for the control and management for intelligent machines[J]. Chinese journal of intelligent science and technology, 2019, 1(2): 181-191. DOI： 10.11959/j.issn.2096-6652.201915.

摘要

针对智能机器控制的复杂性问题，提出了平行机器的概念、框架和方法。平行机器是将基于 ACP 的方法扩展到智能机器领域的产物，形成虚实平行互动的管控模式，是一种针对复杂环境、复杂问题的管理与控制方法。平行机器包括实际的物理机器和软件定义的虚拟机器，通过二者间的虚实互动实现描述、预测和引导3个功能，最后介绍平行机器相关技术并对平行机器的潜在应用进行展望。

Abstract

The concept of parallel machine framework as a solution to the challenges of the complexity of intelligent machines was proposed in this paper.The ACP theory was incorporated into intelligent machine field

and a virtual-real interactive pattern was formed in the control and management of machine.The parallel machine concept is composed of the real machine and corresponding software-defined virtual ones

and through which the functionality including describing

predicting and prescription can be achieved.Finally

relevant technologies and potential applications of parallel machine were discussed.

关键词

Keywords

references

LEGG S , HUTTER M . A collection of definitions of intelligence [J ] . Frontiers in Artificial Intelligence and Applications , 2007 , 157 :17.

SABANOVIC S , MILOJEVIC S , ASARO P , et al . Robotics narratives and networks[history] [J ] . IEEE Robotics ＆ Automation Magazine , 2015 , 22 ( 1 ): 137 - 146 .

ABDUL-KADER S A , WOODS J . Survey on Chatbot design techniques in speech conversation systems [C ] // International Journal of Advanced Computer Science and Applications , 2015 , 6 ( 7 ): 72 - 80 .

GANDOMI A , HAIDER M . Beyond the hype:big data concepts,methods,and analytics [J ] . International Journal of Information Management , 2015 , 35 ( 2 ): 137 - 144 .

FERRARA E , MEO P D , FIUMARA G , et al . Web data extraction,applications and techniques:a survey [J ] . Knowledge-based Systems , 2014 , 70 : 301 - 323 .

SONG J , ALVES-FOSS J . The darpa cyber grand challenge:a competitor’s perspective [J ] .,2015,13,6:72-76. IEEE Security ＆ Privacy , 2015 , 13 , 6 72 - 76 .

王飞跃 . 平行系统方法与复杂系统的管理和控制 [J ] . 控制与决策 , 2004 , 19 ( 5 ): 485 - 489 .

WANG F Y . Parallel system methods for management and control of complex systems [J ] . Control and Decision , 2004 , 19 ( 5 ): 485 - 489 .

WANG F Y . Shadow systems:a new concept for nested and embedded cosimulation for intelligent systems [R ] . Tucson,Arizona State,USA:University of Arizona , 1994 .

王飞跃 . 机器人的未来发展：从工业自动化到知识自动化 [J ] . 科技导报 , 2015 , 33 ( 21 ): 39 - 44 .

WANG F Y . On future development of robotics:from industrial automation to knowledge automation [J ] . Science ＆ Technology Review , 2015 , 33 ( 21 ): 39 - 44 .

JENSEN J C , CHANG D H , LEE E A . A model-based design methodology for cyber-physical systems [C ] // in Wireless Communications and Mobile Computing Conference (IWCMC) . 2011 : 1666 - 1671 .

WOLFRAM S . The mathematica [M ] . Cambridge : Cambridge University PressPress , 1999 .

CAMPBELL S L , CHANCELIER J P , NIKOUKHAH R . Modeling and Simulation in SCILAB [J ] .,2006. Springer , 2006 .

MATLOFF N . Introduction to discrete-event simulation and the SimPy language [M ] . Davis : University of California at DavisPress , 2008 .

RICHARDS D . Advanced mathematical methods with Maple [M ] . Cambridge : Cambridge University PressPress , 2002 .

PATERNOSTER A , LOENDERSLOOT R , BOER A D , et al . Simulation of flexible mechanisms in a rotating blade for smart-blade applications [J ] . Journal of Economic Theory , 2012 , 88 ( 2 ): 340 - 368 .

YU J , TAN M , ZHANG J . Swimming simulation and system implementation of a multilink robotic fish [C ] // Int.J.Inform.Syst . Sci , 2010 , 6 ( 4 ): 365 - 376 .

PERRY A R , . The flight gear flight simulator [C ] // in Proceedings of the USENIX Annual Technical Conference . 2004 .

GARCIA R , BARNES L . Multiuav simulator utilizing x-plane [C ] // in Selected Papers from the 2nd International Symposium on UAVs,Reno,Nevada,USA , 2009 : 393 - 406 .

SHAH S , DEY D , LOVETT C , et al . Air-sim:high-fidelity visual and physical simulation for autonomous vehicles [C ] // in Field and Service Robotics . 2018 : 621 - 635 .

DHURANDHER S K , MISRA S , OBAIDAT M S , et al . Uwsim:a simulator for underwater sensor networks [J ] . Simulation , 2008 , 84 ( 7 ): 327 - 338 .

BOEING A , BRÄUNL T , . Subsim:an autonomous underwater vehicle simulation package [C ] // in Proceedings of the 3rd International Symposium on Autonomous Minirobots for Research and Edutainment (AMiRE 2005) . 2006 : 33 - 38 .

BENEKOHAL R , TREITERER J . Carsim:car-following model for simulation of traffic in normal and stop-and-go conditions [J ] . Transportation Research Record , 1988 :1194.

CALHEIROS R N , RANJAN R , BELOGLAZOV A , et al . cloudsim:a toolkit for modeling and simulation of cloud computing environments and evaluation of resource provisioning algorithms [J ] . Software:Practice and Experience , 2011 , 41 ( 1 ): 23 - 50 .

KOENIG N , HOWARD A . Design and use paradigms for Gazebo,an open-source multi-robot simulator [C ] // in IEEE/RSJ International Conference on Intelligent Robots and Systems . 2004 : 2149 - 2154 .

KUMARAND V , TODOROV E . Mujoco haptix:a virtual reality system for hand manipulation [C ] // in IEEE RAS 15th International Conference on Humanoid Robots (Humanoids) . 2015 : 657 - 663 .

ROHMER E , SINGH S P , FREESE M . V-rep:a versatile and scalable robot simulation framework [C ] // in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) . 2013 : 1321 - 1326 .

PINCIROLI C , TRIANNI V , O’GRADY R . Argos:a modular,multi-engine simulator for heterogeneous swarm robotics [C ] // in 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) . 2011 : 5027 - 5034 .

ELKADY A , SOBH T . Robotics middleware:a comprehensive literature survey and attribute-based bibliography [J ] . Journal of Robotics , 2012 , 2012 : 1 - 15 .

QUIGLEY M , CONLEY K , GERKEY B , et al . ROS:an open-source robot operating system [C ] // in ICRA Work-shop on Open Source Software . 2009 .

GERKEY B , VAUGHAN R T , HOWARD A . The player/stage project:tools for multi-robot and distributed sensor systems [C ] // in Proceedings of the 11th International Conference on Advanced Robotics . 2003 , 1 : 317 - 323 .

METTA G , FITZPATRICK P , NATALE L . Yarp:yet another robot platform [J ] . International Journal of Advanced Robotic Systems , 2006 , 3 ( 1 ):8.

ANDO N , SUEHIRO T , KITAGAKI K , et al . Rt-middleware:distributed component middleware for rt (robot technology) [C ] // in 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2005) . 2005 : 3933 - 3938 .

DIANKOV R , KUFFNER J . OpenRAVE:a planning architecture for autonomous robotics [J ] . Robotics Institute,Pittsburgh,PA,Tech.Rep , 2008 : 7 - 9 .

TOURETZKY D S , TIRA-THOMPSON E J , . Tekkotsu:a framework for aibo cognitive robotics [C ] // in Proceedings of the National Conference on Artificial Intelligence . 2005 20 :1741.

MANSO L , BACHILLER P , BUSTOS P , et al . Robocomp:a tool-based robotics framework [C ] // in International Conference on Sim-ulation,Modeling,and Programming for Autonomous Robots . 2010 : 251 - 262 .

MARTÍNEZ J , ROMERO-GARCÉS A , MANSO L , et al . Improving a robotics framework with real-time and high-performance features [C ] // in International Conference on Simulation,Modeling,and Programming for Autonomous Robots . 2010 : 263 - 274 .

LEITNER J , HARDING S , FRANK M , et al . An integrated,modular framework for computer vision and cognitive robotics research (icvision) [C ] // in Biologically Inspired Cognitive Architectures . 2013 : 205 - 210 .

MAKARENKO A , BROOKS A , KAUPP T . Orca:components for robotics [C ] // in International Conference on Intelligent Robots and Systems (IROS) . 2006 : 163 - 168 .

MEIER L , HONEGGER D , POLLEFEYS M . Px4:a node-based multithreaded open source robotics frame-work for deeply embedded platforms [C ] // in 2015 IEEE International Conference on Robotics and Automation (ICRA) . 2015 : 6235 - 6240 .

WAIBEL M , BEETZ M , CIVERA J , et al . Roboearth [J ] . IEEE Robotics ＆ Automation Magazine , 2011 , 18 ( 2 ): 69 - 82 .

HUNZIKER D , GAJAMOHAN M , WAIBEL M , et al . Rapyuta:the roboearth cloud engine [C ] // in 2013 IEEE International Conference on Robotics and Automation (ICRA) . 2013 : 438 - 444 .

SAXENA A , JAIN A , SENER O , et al . Robobrain:large-scale knowledge engine for robots [J ] . arXiv preprint arXiv:1412.0691 , 2014 .

BEETZ M , TENORTH M , WINKLER J . Open-ease [C ] // in 2015 IEEE International Conference on Robotics and Automation (ICRA) . 2015 : 1983 - 1990 .

KUFFNER J , . Cloud-enabled humanoid robots [C ] // in 2010 10th IEEE-RAS International Conference on Humanoid Robots (Humanoids) . 2010 .

ARUMUGAM R , ENTI V R , BINGBING L , et al . Davinci:a cloud computing framework for service robots [C ] // in 2010 IEEE International Conference on Robotics and Automation (ICRA) . 2010 : 3084 - 3089 .

KEHOE B , PATIL S , ABBEEL P , et al . A survey of research on cloud robotics and automation [J ] . IEEE Transactions on Automation Science and Engineering , 2015 , 12 ( 2 ): 398 - 409 .

WAN J , TANG S , YAN H , et al . Cloud robotics:current status and open issues [J ] . IEEE Access , 2016 , 4 : 2797 - 2807 .

ROSEN R , WICHERT G V , LO G , et al . About the importance of autonomy and digital twins for the future of manufacturing [J ] . IFAC-Papers OnLine , 2015 , 48 ( 3 ): 567 - 572 .

WANG F Y . On the modeling,analysis,control and management of complex systems [J ] . Complex Systems and Complexity Science , 2002 , 1 : 1 - 9 .

WANG F Y , LIU D R , XIONG G , et al . Parallel control theory of complex systems and applications [J ] . Complex Systems and Complexity Science , 2012 , 9 ( 3 ): 1 - 12 .

WANG F Y . Artificial societies,computational experiments,and parallel systems:a discussion on computational theory of complex social economic systems [J ] . Complex Systems and Complexity Science , 2004 , 4 : 25 - 35 .

WANG F Y , ZHANG J , WEI Q , et al . Pdp:parallel dynamic programming [J ] . IEEE/CAA Journal of Automatica Sinica , 2017 , 4 ( 1 ): 1 - 5 .

DENG J , DONG W , SOCHER R , et al . ImageNet:a large-scale hierarchical image database [C ] // in 2009 IEEE Conference on Computer Vision and Pattern Recognition(CVPR) . 2009 : 248 - 255 .

PFEIFFER M , SCHAEUBLE M , NIETO J , et al . From perception to decision:a data-driven approach to end-to-end motion planning for au-tonomous ground robots [C ] // in 2017 IEEE International Conference on Robotics and Automation (ICRA) . 2017 : 1527 - 1533 .

LOQUERCIO A , MAQUEDA A I , BLANCO C R D , et al . Dronet:learning to fly by driving [J ] . IEEE Robotics and Automation Letters , 2018 , 3 ( 2 ): 1088 - 1095 .

WANG K , GOU C , ZHENG N , et al . Parallel vision for perception and understanding of complex scenes:methods,framework,and perspectives [J ] . Artificial Intelligence Review , 2017 , 48 ( 3 ): 299 - 329 .

HAMANDI M , D’ARCY M , FAZLI P . Deep-motion:learning to navigate like humans [J ] . arXiv pre-print arXiv:1803.03719 , 2018 .

TAI L , LIU M . Deep-learning in mobile robotics-from perception to control systems:a survey on why and why not [J ] . arXiv preprint arXiv:1612.07139 , 2016 .

段伟 . 平行仿真的内涵、发展与应用 [J ] . 指挥与控制学报 , 2019 , 5 ( 2 ): 82 - 86 .

DUAN W . Parallel simulation:motivation,concept and application [J ] . Journal of Command and Control , 2019 , 5 ( 2 ): 82 - 86 .

WANG K F , XUAN L , LAN Y , et al . Generative adversarial networks for parallel vision [C ] // in 2017 Chinese Automation Congress (CAC) . 2017 : 7670 - 7675 .

WEISS K , KHOSHGOFTAAR T M , WANG D . A survey of transfer learning [J ] . Journal of Big Data , 2016 , 3 ( 1 ):9.

DEVIN C , GUPTA A , DARRELL T , et al . Learning modular neural network policies for multi-task and multi-robot transfer [C ] // in 2017 IEEE International Conference on Robotics and Automation (ICRA) . 2017 : 2169 - 2176 .

LUN S X . Research on the classification of parallel execution modes of ACP theory [J ] . Acta Automatica Sinica , 2012 , 38 ( 10 ): 1602 - 1608 .

HANNA J P , STONE P . Grounded action transformation for robot learning in simulation [C ] // in AAAI . 2017 : 3834 - 3840 .

FARCHY A , BARRETT S , MACALPINE P , et al . Humanoid robots learning to walk faster:from the real world to simulation and back [C ] // in Proceedings of the 2013 International Conference on Autonomous Agents and Multi-Agent Systems . 2013 : 39 - 46 .

吕宜生 , 陈圆圆 , 金峻臣 , 等 . 平行交通：虚实互动的智能交通管理与控制 [J ] . 智能科学与技术学报 , 2019 , 1 ( 1 ): 21 - 33 .

LV Y S , CHEN Y Y , JIN J C , et al . Parallel transportation:virtual-real interaction for intelligent traffic management and control [J ] . Chinese Journal of Intelligent Science and Technology , 2019 , 1 ( 1 ): 21 - 33 .

沈大勇 , 王晓 , 刘胜 . 平行装卸：迈向智慧物流的智能技术 [J ] . 智能科学与技术学报 , 2019 , 1 ( 1 ): 34 - 39 .

SHEN D Y , WANG X , LIU S . Parallel loading and unloading:smart technology toward intelligent logistics [J ] . Chinese Journal of Intelligent Science and Technology , 2019 , 1 ( 1 ): 34 - 39 .

刘腾 , 王晓 , 邢阳 , 等 . 基于数字四胞胎的平行驾驶系统及应用 [J ] . 智能科学与技术学报 , 2019 , 1 ( 1 ): 40 - 51 .

LIU T , WANG X , XING Y , et al . Research on digital quadruplets in cyber-physical-social space-based parallel driving [J ] . Chinese Journal of Intelligent Science and Technology , 2019 , 1 ( 1 ): 40 - 51 .

Views

268

下载量

CSCD

Alert me when the article has been cited

提交

Tools

Publicity Resources

Parallel Sharhili: a new approach to sustainable development and intelligent management of ecological resources

Architecture and key techniques of parallel creation through the fusion of human-cyber-physical intelligence in CPSS

Parallel security:generative adversarial systems for intelligent security in CPSS

Parallel art:artistic creation under human-machine collaboration

AI agent-driven intelligent management and control of parallel museums

Related Author

Peiding PI

Qinghua NI

Jing YANG

Mengzhen KANG

Xuanhao LI

Yingkun DU

Fei-Yue WANG

Chao GUO

Related Institution

The People’s Government of Bortala Mongolian Autonomous Prefecture, Bortala Mongolian

School of Social ＆Political Sciences, The University of Glasgow, Scotland G12 8QQ, the United Kingdom

Department of Engineering Science, Faculty of Innovation Engineering, Macau University of Science and Technology, Macau

State Key Laboratory for Management and Control of Complex Systems, Institute of Automation, Chinese Academy of Sciences

Qingdao Academy of Intelligent Industries

Postal code：100079
Tel：（010）53879206 Email：cjist@bjxintong.com.cn
Technical support is provided by Beijing Founder electronics co., LTD 京ICP备09064830号-19 京公网安备11010802024621
It is recommended to read the content of this site in Chrome&IE9+. Please switch to extreme mode in browser 360.
Cookies We use cookies to help provide and enhance our service and tailor content. By continuing, you agree to the use of cookies.
Total Visits：35641 Visits Today：116

⁰