[1]张鸿皓,姜大鹏,庞永杰,等.水下机器人任务流程建模与管理[J].智能系统学报,2013,8(5):433-438.[doi:10.3969/j.issn.1673-4785.201210067]
ZHANG Honghao,JIANG Dapeng,PANG Yongjie,et al.Workflow modeling and management on AUV[J].CAAI Transactions on Intelligent Systems,2013,8(5):433-438.[doi:10.3969/j.issn.1673-4785.201210067]
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ZHANG Honghao,JIANG Dapeng,PANG Yongjie,et al.Workflow modeling and management on AUV[J].CAAI Transactions on Intelligent Systems,2013,8(5):433-438.[doi:10.3969/j.issn.1673-4785.201210067]
水下机器人任务流程建模与管理
《智能系统学报》[ISSN 1673-4785/CN 23-1538/TP] 卷:
8
期数:
2013年第5期
页码:
433-438
栏目:
学术论文—智能系统
出版日期:
2013-10-25
- Title:
- Workflow modeling and management on AUV
- 文章编号:
- 1673-4785(2013)05-0433-06
- Keywords:
- workflow; task workflow; task flow management; Petri net; AUV
- 分类号:
- TP301.1
- 文献标志码:
- A
- 摘要:
- 为实现水下机器人任务流程的快速建模与自动管理，通过改进传统的工作流理论，提出了一种实用的任务流程模型——任务工作流.介绍了作为任务工作流理论基础的传统Petri网及工作流模型，指出了原有理论的缺陷并介绍了任务工作流的基本理论.以任务工作流模型为基础，实现了一款任务流程管理系统，为其定义了完善的图形化建模手段与标准的文本化的描述语言，并建立了一套担负着运行时任务管理工作的核心应用程序，能够实现任务的描述与建模、自动运行与管理，以及任务流程的动态更改.实践表明，任务工作流建模简单快捷、方便编程实现，是机器人任务建模与管理的理想工具.
- Abstract:
- In order to implement fast modeling and automatic management of the task flow for the autonomous underwater vehicle (AUV), a practical task flow model named “task workflow”， has been proposed to improve the traditional workflow theory. In this paper, the traditional Petri net and workflow model as the theoretical basis of the task workflow are briefly introduced, the defects of the original theory are pointed out and the basic theory of the task workflow is introduced; with the task workflow model as the basis, a task flow management system is realized, the perfect graph modeling means and standard text description language are defined, and a set of core application programs undertaking the task management in the operation are established. The programs may realize task description and modeling, automatic operation and management and the dynamic amendment of task flow. Past experience has shown that task workflow is easy for modeling and programming, and it is an ideal tool for task modeling and management.
- 参考文献/References:
-
［1］袁崇义．Petri网原理与应用［M］.北京:电子工业出版社, 2005.
［2］邹海，边信黔，熊华胜．AUV控制系统规划层使命与任务协调方法研究［J］．机器人, 2006, 28(6): 651-655.
ZOU Hai, BIAN Xinqian, XIONG Huasheng. Research on the mission and task coordination method of AUV control system at planning layer［J］. Robot, 2006, 28(6): 651-655.
［3］韩丽洁．水下机器人任务规划技术研究［D］．哈尔滨：哈尔滨工程大学, 2010: 36-56.
［4］VAN DER AALST W, VAN HEE K M. Workflow management: models, methods, and systems［M］. Cambridge, USA: The MIT Press, 2002.
［5］张亮，姚淑珍．基于Petri网的工作流模式研究［J］．计算机集成制造系统, 2006, 12(1): 54-58.
ZHANG Liang, YAO Shuzhen. Research on workflow patterns based on Petri nets［J］. Computer Integrated Manufacturing Systems, 2006, 12(1): 54-58.
［6］王斌，章云，王晓红．基于Petri网的工作流模式建模及应用［J］．计算机工程与应用, 2008, 44(13): 238-241.
WANG Bin, ZHANG Yun, WANG Xiaohong. Modeling research and application of workflow patterns based on Petri nets［J］. Computer Engineering and Application, 2008, 44(13): 238-241.
［7］VAN DER AALST W M P, TER HOFSTEDE A H M. YAWL: yet another workflow language［R］. Brisbane, Australia: Queensland University of Technology, 2003.
［8］陈荣辉，陈新度，陈新．基AND_OR 图深度优先搜索的工作流模型验证［J］．机电工程技术, 2008, 37(6): 56-71.
CHEN Ronghui, CHEN Xindu, CHEN Xin. Workflow model verification based on AND_OR graph depth-first searching［J］. Mechanical & Electrical Engineering Technology, 2008, 37(6): 56-71.
［9］孙玲芳，方锦烽，汲铮，等．YAWL中OR_join任务使能判断的改进及形式化说明［J］．江苏科技大学学报：自然科学版, 2007, 21(5): 64-68.
SUN Lingfang, FANG Jinfeng, JI Zheng, et al. Improvement in enabling of OR-join in yet another workflow language［J］. Journal of Jiangsu University of Science and Technology: Natural Science Edition, 2007, 21(5): 64-68.
［10］曹国荣，谭庆平，吴浩，等．规范流网中OR-join任务的语义及使能判定算法［J］．计算机科学与探索, 2010, 4(6): 542-551.
CAO Guorong, TAN Qingping, WU Hao, et al. Semantics and implementation of the OR-join in regular flow nets［J］. Journal of Frontiers of Computer Science and Technology, 2010, 4(6): 542-551.
- 相似文献/References:
-
[1]张万鹏,王楠,陈璟.一种利用工作流模型的分层任务网络规划领域建模方法[J].智能系统学报,2011,6(3):239.
ZHANG Wanpeng,WANG Nan,CHEN Jing.An HTN planning domain modeling method using a workflow model[J].CAAI Transactions on Intelligent Systems,2011,6():239.
备注/Memo
收稿日期：2012-10-31. 网络出版日期：2013-09-29.
基金项目：国家自然科学基金资助项目（51209051）；中国博士后科学基金资助项目（2012M520708）；中央高校基本科研业务费专项基金资助项目（HEUCFR1203）.
通信作者：张鸿皓. E-mail: zhh094@126.com.
作者简介：
张鸿皓，男，1988年生，硕士研究生，主要研究方向为水下机器人控制软件系统设计.
姜大鹏，男，1981年生，讲师，硕士生导师，博士，主要研究方向为多水下机器人协同作业技术、智能水下机器人技术.
庞永杰，男，1955年生，教授，博士生导师，主要研究方向为智能水下机器人技术、船舶操纵与控制技术.主持和参与省部级以上科研项目多项，曾获国家科技进步二等奖1次，国防科学技术一、二、三等奖各1次，发表学术论文50余篇.
更新日期/Last Update:
2013-11-28