第5期 龚涛，等：免疫机器人的仿生计算与控制 。11 quences using an artificial immune system [A ]In Proc coupled immune networks [J ]Advanced Robotics, Intelligent Systems in Molecular Biology [C].Cam- 1996,10(2):179-195. bridge,UK,1995. [18 ]CAIZ X,DUAN Z H,CAIJ F,et al.A multiple par- [5]DASGU PTA D.Artificial immune system and their ap- ticle filters method for fault diagnosis of mobile robot plications[M].Berlin:Springer-Verlag,1998 deadreckoning system [A].In Proceedings of 2005 [6]De CASTRO L N,TIMMIS J.Artificial immune sys IEEE/RSI International Conference on Intelligent Ro- tems:a new computational intelligence approach [M]. tots and Systems[C].Edmonton,Canada,2005. London:Springer-Verlag,2002. 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[11]HA D,SHIN D,KOH D H,et al.Cost effective em- [23]CAI Z X,GONG T.Natural computation architecture bedded DRAM integration for highdensity memory and of immune control based on normal model [A ]Pro- high performance logic using 0.15 m technology node ceedings of 2006 IEEE International Symposium on In- and beyond [J ]IEEE Trans on Electron Devices, telligent Control (ISIC)[C].Munich,Germany,2006. 2000,47(7):1499.1506. 作者简介： [12]蔡自兴，龚涛.免疫算法研究的进展[卩].控制与决 龚涛，男，1978年生，博士，讲师 策，2004,19(8)：841-846. Sigma Xi正式会员，主要研究方向为免疫 CAI Zixing,GONG Tao.Advance in research on im- 计算、免疫机器人、人工智能、免疫控制， mune algorithms [J ]Control and Decision,2004,19 已发表论文35篇以上，出版著作10余 (8):841-846. 部 [13]GONG T,CAI Z X.Mobile immune-robot model [A]. E mail:tao gongchina @gmail.com. In Proceedings of IEEE Int Conf on Robotics,Intelli- gent Systems and Signal Proceeding [C].Changsha, 蔡自兴，男，1938年生，教授，博士生 China,2003. 导师，EEE高级会员，纽约科学院院士， [14]陈建安.免疫系统：模型、算法、网络及应用研究[D] 联合国专家，主要研究方向为人工智能、 西安：西北工业大学，2000. 智能控制和智能机器人，先后获得全国优 CHEN J A.Immune system:model,algorithm,net- 秀教材一等奖、首届国家级高校教学名师 work and applicaton research [D].Xi'an:Northwest- 奖、宝钢全国优秀教师特等奖、国家教育 ern Polytechnical University,2000. 部科技进步一等奖等奖励，已发表论文近 [15]刘娟，蔡自兴，涂春鸣.进化机器人学研究进展[卩] 400篇，出版专著20余部」 控制理论与应用，2002,19(4)：493.499 LIU Juan,CAI Zixing,TU Chunming.Survey on evo- lutionary robotics [J].Control Theory and Applica tions,2002,19(4):493,499. 江中央，男，1982年生，硕士研究生 [16]GAO S,ZHAO J,CAI H.Immune genetic algorithm 主要研究方向为免疫控制、智能控制和 for the path planning of tightly coordinated two-robot 嵌入式系统 manipulators [J ]Chinese Journal of Mechanical Engi- neering,2004,17(4):481-485. [17]ISHIGURO A,KUBOSHIKI S,ICHIKAWA S,et al. 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[10 ]DIN G Y S , REN L H. Fuzzy self2tuning immune feed2 back controller for tissue hyperthermia [ A ]. In Pro2 ceedings of IEEE Int Conf on Fuzzy Systems [ C]. San Antonio ,USA , 2000. [11 ] HA D , SHIN D , KO H D H , et al. Cost effective em2 bedded DRAM integration for high2density memory and high performance logic using 0115 m technology node and beyond [J ]. IEEE Trans on Electron Devices , 2000 , 47 (7) :1499 - 1506. [12 ]蔡自兴 , 龚 涛. 免疫算法研究的进展[J ]. 控制与决 策 , 2004 , 19 (8) : 841 - 846. CAI Zixing , GON G Tao. Advance in research on im2 mune algorithms [J ]. Control and Decision , 2004 , 19 (8) : 841 - 846. [13 ] GON G T , CAI Z X. Mobile immune2robot model [ A ]. In Proceedings of IEEE Int Conf on Robotics , Intelli2 gent Systems and Signal Proceeding [ C ]. Changsha , China , 2003. [14 ]陈建安. 免疫系统 :模型、算法、网络及应用研究[ D ]. 西安 : 西北工业大学 , 2000. CHEN J A. Immune system : model , algorithm , net2 work and applicaton research [D ]. Xi’an : Northwest2 ern Polytechnical University , 2000. [15 ]刘 娟 ,蔡自兴 ,涂春鸣. 进化机器人学研究进展[J ]. 控制理论与应用 , 2002 , 19 (4) : 493 - 499. L IU J uan , CAI Zixing , TU Chunming. Survey on evo2 lutionary robotics [J ]. Control Theory and Applica2 tions , 2002 , 19 (4) : 493 - 499. [16 ] GAO S , ZHAO J , CAI H. Immune genetic algorithm for the path planning of tightly coordinated two2robot manipulators [J ]. Chinese Journal of Mechanical Engi2 neering , 2004 , 17 (4) : 481 - 485. [17 ]ISHIGURO A , KUBOSHIKI S , ICHIKAWA S , et al. Gait control of hexapod walking robots using mutual2 coupled immune networks [J ]. Advanced Robotics , 1996 , 10 (2) : 179 - 195. [18 ]CAI Z X , DUAN Z H , CAIJ F , et al. A multiple par2 ticle filters method for fault diagnosis of mobile robot dead2reckoning system [ A ]. In Proceedings of 2005 IEEE/ RSJ International Conference on Intelligent Ro2 tots and Systems[C]. Edmonton ,Canada , 2005. [19 ] CAI Z X , WAN G Y. A multiobjective optimization based evolutionary algorithm for constrained optimiza2 tion [J ]. IEEE Transactions on Evolutionary Computa2 tion , 2006 , 10 (6) : 658 - 675. [20 ] GON G T , CAI J F , CAI Z X. A coding and control mechanism of natural computation [ A ]. Proceedings of the 2003 IEEE International Symposium on Intelligent Control [C]. Houston ,USA , 2003. [ 21 ] GON G T , CAI Z X. Natural computation of immune e2 learning system [ A ]. Proceedings of 3rd International Conference on Computational Intelligence , Robotics and Autonomous Systems [C]. Singapore , 2005. [ 22 ]CAI Z X. Intelligent control : principles , techniques and applications [ M ]. Singapore : World Scientific Publish2 ers , 1997. [23 ]CAI Z X , GON G T. Natural computation architecture of immune control based on normal model [ A ]. Pro2 ceedings of 2006 IEEE International Symposium on In2 telligent Control (ISIC) [C]. Munich , Germany , 2006. 作者简介 : 龚 涛 ,男 , 1978 年生 ,博士 ,讲师 , Sigma Xi 正式会员 ,主要研究方向为免疫 计算、免疫机器人、人工智能、免疫控制 , 已发表论文 35 篇以上 ,出版著作 10 余 部. E2mail : taogongchina @gmail. com. 蔡自兴 ,男 ,1938 年生 ,教授 ,博士生 导师 ,IEEE 高级会员 ,纽约科学院院士 , 联合国专家 ,主要研究方向为人工智能、 智能控制和智能机器人 ,先后获得全国优 秀教材一等奖、首届国家级高校教学名师 奖、宝钢全国优秀教师特等奖、国家教育 部科技进步一等奖等奖励 ,已发表论文近 400 篇 ,出版专著 20 余部. 江中央 ,男 ,1982 年生 ,硕士研究生 , 主要研究方向为免疫控制、智能控制和 嵌入式系统. 第 5 期 龚 涛 ,等 :免疫机器人的仿生计算与控制 ·11 ·