基于智能决策的水下并联机器人平台应急系统设计  

Emergency System Design for Underwater Parallel Robotic Platform Based on Intelligent Decision Method

作　　者：程舟济[1] 徐国华[1] 向先波[1] 曾志林[1] 

机构地区：[1]华中科技大学船舶与海洋工程学院,湖北武汉430074

出　　处：《山东科技大学学报（自然科学版）》2012年第5期56-62,共7页Journal of Shandong University of Science and Technology(Natural Science)

基　　金：2011年华中科技大学自主创新基金项目(基于柔性驱动的三自由度海洋平台设计及位姿控制)

摘　　要：水下并联机器人平台深水作业环境复杂,经常面临各种各样的危险,必须装备应急系统,使其在出现故障或险情时能顺利安全回收。采用故障树分析法、模糊专家推理及智能决策技术,设计了一种水下并联机器人平台应急回收系统,该系统根据水下故障级别采取相应的应急回收策略。模拟仿真实验表明,发生故障时该系统能够满足水下并联机器人平台应急安全回收的要求。An underwater parallel robotic platform often faces a lot of dangers when it works in deep water with complicated environment.Hence,it is necessary to equip an emergency system to withdraw the underwater platform itself.An emergency withdraw system was designed based on fault tree analysis,fuzzy expert reasoning and intelligent decision techniques.Consequently,the emergency withdraw strategy will be used according to different underwater failure levels.The simulation experiment showed that the underwater parallel robotic platform could be safely withdrawn when any failures happened.

关 键 词：水下并联机器人 应急系统 故障树分析法 模糊专家推理 智能决策 

分 类 号：TP182[自动化与计算机技术—控制理论与控制工程]