高精度操作在制造业的各类任务中至关重要。一般而言，高精度操作通常依靠高精度传感器的引导来实现；然而在某些特殊情况下，无传感方法反而更加可靠和有效。这方面已有许多重要工作 (Bakšys et al., 2010; Sonoda and Shimada, 2010; Kristek and Shell, 2012)。

“环境吸引域”（attractive region in environment，ARIE）这一概念由我们的前期工作 (Qiao, 2000; Qiao, 2002; Qiao, 2003) 提出，为低精度系统实现高精度操作提供了一条有前景的途径。它已被应用于多种工业场景，如机器人装配 (Su et al., 2011)、抓取 (Su et al., 2009) 和定位 (Liu et al., 2011)。ARIE 是这样一个区域：从其中任意一点出发，仅通过一个与当前状态无关的输入，即可消除系统的不确定性。

利用”碗中豆子”的例子可以很容易理解吸引域的作用：对于碗中的豆子，无论其初始位置在哪里，它都会在重力作用下滚动并最终停在碗底。也就是说，豆子的不确定性在没有任何传感反馈的情况下被重力消除了。受上述例子启发，我们提出了 ARIE 的一般性概念并将其应用于工业。在我们的论文 (Qiao et al., 2015) 中，我们回顾了 ARIE 的应用并给出了其形式化定义。此外，我们在复杂且非理想的广义构型空间中建立了 ARIE 的存在条件，还讨论了高维吸引域与低维吸引域之间的关系，这有助于在低维构型空间中制定可行、可靠的操作策略。该论文的主要贡献在于对 ARIE 概念的推广，为”以低精度系统实现高精度操作”等应用提供了理论基础。针对不同类型复杂操作的仿真实验表明，所提出的方法对工业应用是有效的。

参考文献

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