针对CARACaS(Control Architecture for Robotic Agent Command and Sensing)无人自主框架、核心组件、示范验证和应用发展情况进行综述。首先,简要描述了自主框架的组成及其软件架构的设计原则和思路,对行为、动态规划和感知三类引擎...针对CARACaS(Control Architecture for Robotic Agent Command and Sensing)无人自主框架、核心组件、示范验证和应用发展情况进行综述。首先,简要描述了自主框架的组成及其软件架构的设计原则和思路,对行为、动态规划和感知三类引擎的技术特征进行分析,讨论了世界模型的构建原则和方式;其次,较为详细地分析了CARACaS技术典型示范验证和拓展应用情况,讨论了水面无人艇自主导航应用中CARACaS感知系统技术演化和发展;然后,考虑CARACaS技术示范验证与美国无人行业领军代表——空间集成系统公司SIS(Spatial Integrated Systems)集成开发工作密切相关,概要总结了SIS集成技术特点和最新进展;最后,结合美军在无人领域重点研究技术的发展情况,给出了几点启示。展开更多
IEEE 1394b is a high-speed data bus that is widely used in local area networks and consumer electronics. To best utilize this data bus, we need to fully understand its per- formance. To evaluate its performance for bo...IEEE 1394b is a high-speed data bus that is widely used in local area networks and consumer electronics. To best utilize this data bus, we need to fully understand its per- formance. To evaluate its performance for both isochronous and asynchronous data transfers, we model the IEEE 1394b bus using Deterministic and Stochastic Pelri Nets （DSPNs）, and conduct simulations using TimeNET 4.0. Using the DSPNs model, we simulate both the average waiting times of isochronous and asynchronous packets. From the simulation results, we determine the factors that influence performance, such as throughput, size of packets, arrival rate of packets, number of isochronous channels, and bus configuration.展开更多
文摘针对CARACaS(Control Architecture for Robotic Agent Command and Sensing)无人自主框架、核心组件、示范验证和应用发展情况进行综述。首先,简要描述了自主框架的组成及其软件架构的设计原则和思路,对行为、动态规划和感知三类引擎的技术特征进行分析,讨论了世界模型的构建原则和方式;其次,较为详细地分析了CARACaS技术典型示范验证和拓展应用情况,讨论了水面无人艇自主导航应用中CARACaS感知系统技术演化和发展;然后,考虑CARACaS技术示范验证与美国无人行业领军代表——空间集成系统公司SIS(Spatial Integrated Systems)集成开发工作密切相关,概要总结了SIS集成技术特点和最新进展;最后,结合美军在无人领域重点研究技术的发展情况,给出了几点启示。
基金supported by the Aeronautics Science Foundation of China under Grant No. 2008ZC51
文摘IEEE 1394b is a high-speed data bus that is widely used in local area networks and consumer electronics. To best utilize this data bus, we need to fully understand its per- formance. To evaluate its performance for both isochronous and asynchronous data transfers, we model the IEEE 1394b bus using Deterministic and Stochastic Pelri Nets （DSPNs）, and conduct simulations using TimeNET 4.0. Using the DSPNs model, we simulate both the average waiting times of isochronous and asynchronous packets. From the simulation results, we determine the factors that influence performance, such as throughput, size of packets, arrival rate of packets, number of isochronous channels, and bus configuration.
