CAJ | 학술논문

在共享控制系统中,比如智能服务机器人,操作员和自动化专门系统相互配合,共同控制.有效的共享控制需要复杂的系统体系结构,该结构可以提供安全鲁棒的运行,提供对用户友好的界面.满足这两项需求是一个不寻常的任务.介绍了解决这些问题的方法.首先给出一个以会话为中心采用面向代理编程和形式化方法的认知控制体系结构.采用混成设计的SharC认知控制体系结构,可以区分协同代理群体中每一个遥控设备的控制.安全性对共享控制系统来说是极为重要的,因此这种体系结构必须能够保证较高的安全性.最后,描述了作为控制系统核心的形式化建模会话管理器,通过示范平台中自动轮椅的例子说明这些不同的软件范例的应用.
재공향공제계통중,비여지능복무궤기인,조작원화자동화전문계통상호배합,공동공제.유효적공향공제수요복잡적계통체계결구,해결구가이제공안전로봉적운행,제공대용호우호적계면.만족저량항수구시일개불심상적임무.개소료해결저사문제적방법.수선급출일개이회화위중심채용면향대리편정화형식화방법적인지공제체계결구.채용혼성설계적SharC인지공제체계결구,가이구분협동대리군체중매일개요공설비적공제.안전성대공향공제계통래설시겁위중요적,인차저충체계결구필수능구보증교고적안전성.최후,묘술료작위공제계통핵심적형식화건모회화관리기,통과시범평태중자동륜의적례자설명저사불동적연건범례적응용.
In shared-control systems, such as intelligent service robots, a human operator and an automated technical system are interdependently in charge of control. Effective shared control requires complex system architectures that provide safety and robustness in operation, while providing a user-friendly interface--provision of these dual requirements is a non-trivial task. This paper reports on an approach to addressing these issues. A dialogue centric cognitive control architecture is presented, which utilizes both agent-oriented programming and formal methods. The SharC Cognitive Control Architecture is a hybrid design that distributes control of a robot amongst a community of deliberative intentional agents. Since safety is of paramount importance in shared-control systems, high-level safety issues must be addressed within such architectures. To this end, the authors also describe a formally modeled dialogue manager that sits at the heart of the control system. The use of these distinct software paradigms is illustrated, by example, with the demonstration platform: Rolland, the Bremen autonomous wheelchair.