超视距空战仿真中的策略识别

针对超视距空战仿真中敌机策略的识别问题,研究了一种基于案例的策略识别方法。该方法通过构建包含假定的对手任务目标、观测数据、策略等内容的案例库,采用相似度计算选择与新的观测相似的案例库子集,并计算策略概率分布来识别对手策略。实验证明,相比与常规的基于案例推理方法,在案例中增加敌机任务目标提高了策略识别准确率,并且在假定敌机目标不正确时,能修复错误假定并进行策略识别,改善了基于案例策略识别方法的性能。     

A Robotic TeleoperationSystem for Precise Robotic Manipulation by Human-Machine Interaction

Teleoperation is of great importance in the area of robotics， especially when people are unavailable in the robot workshop. It provides a way for people to control robots remotely using human intelligence. In this paper， a robotic teleoperation system for precise robotic manipulation is established. The data glove and the 7-degrees of freedom (DOFs) force feedback controller are used for the remote control interaction. The control system and the monitor system are designed for the remote precise manipulation. The monitor system contains an image acquisition system and a human-machine interaction module， and aims to simulate and detect the robot running state. Besides，a visual object tracking algorithm is developed to estimate the states of the dynamic system from noisy observations. The established robotic teleoperation systemis applied to a series of experiments， and high-precision results are obtained， showing the effectiveness of the physical system.