微装配智能学习与控制策略研究

项目名称： 微装配智能学习与控制策略研究

项目编号： No.61305115

项目类型： 青年科学基金项目

立项/批准年度： 2014

项目学科： 自动化技术、计算机技术

项目作者： 邢登鹏

作者单位： 中国科学院自动化研究所

项目金额： 24万元

中文摘要： 微装配技术是微机电系统研究的核心内容和热点课题，具有广泛应用前景和重要研究意义。微装配具有精度要求高、操作约束多等特点，目前针对微装配的智能研究较少，其智能化水平还有待提高。然而微装配学习研究，既能提高微装配系统智能化、装配效率，又能促进学习算法在微装配领域的应用与发展。 本项目主要进行微装配的智能学习与控制策略研究，开展工作如下：1）微装配技能学习，重点研究任务分解、工序与运动轨迹优化，采用多任务学习理论获得微装配技能；2）研究适用于微装配任务的知识表达方法，从零件信息、任务需求、操作约束以及配合关系等方面对微装配知识进行准确描述；3）融合微力与显微视觉反馈信息，设计在线调整策略和离线评价与调整方法。以激光惯性约束核聚变实验用微靶装配系统为实验平台，开展微装配的智能学习与控制方法研究。

中文关键词： 微装配；技能学习；精准控制；；

英文摘要： Micro-assembly is the key research focus of Microelectromechanical systems, and has extensive application prospective and important research significance. Micro-assembly has the property of high precision demand and a variety of operational constraints. There're limited research results on micro-assembly intelligence, which needs further to improve. Learning study in micro-assembly improves the intelligence of micro-assembly systems and enhance assembly efficiency, and also expands to apply learning methods in the field of micro-assembly. This proposal focuses on intelligent learning and control strategy in micro-assembly. The main contents are listed as: 1) skill learning in micro-assembly. It emphasizes on decomposing tasks and optimizing assembly sequence and motion trajectory. Multi-task learning theory is applied to acquire micro-assembly skills. 2) knowledge expression method suitable for micro-assembly. This includes explicitly describing the micro-assembly prior knowledge about complicated part information, task requirements, operational constraints, and assembly relations. 3) sensor fusion of micro force and micro vision, and design of online adjustment mechanism and offline evaluation and adjustment. We choose as the platform the cryogenic target used in Inertial Confinement Fusion experiments to stud

英文关键词： micro-assembly；skill learning；precision control；；